136
Total objective tests
35
Objectives passed
0
Objectives failed
101
Objectives skipped
10.2s
Avg test time
100%
Objective pass rate
▾
/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/objectives31 pass60 skip
| ✓ passed | Move Flasks to Burners | move_flasks_to_burners.xml | 42.7s | 6 warnings · 317 info |
+ 0.00sINFOobjective_server_nodeFound path in 0 iterations (2.56e-07 s). ×2 + 0.00sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.01sINFOros2_control_node[2026-11-09 06:01:36.566] [info] Received new action goal ×2 + 0.01sINFOros2_control_node[2026-11-09 06:01:36.566] [info] Accepted new action goal ×2 + 2.02sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1794204098.57288051 seconds ×3 + 3.03sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.03sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.03sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.04sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.04sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.04sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.05sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.57sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.57sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.57sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.57sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.57sINFOobjective_server_nodecaller: ×4 + 3.57sINFOobjective_server_nodetype: 0 ×4 + 3.57sINFOobjective_server_nodename: "" ×4 + 3.57sINFOobjective_server_nodeinstance_id: "" ×4 + 3.57sINFOobjective_server_node ×4 + 3.64sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1794204100.19539976 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.64sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×6 + 3.64sINFOros2_control_nodeReceived & accepted new action goal[0m ×12 + 3.72sINFOobjective_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 + 3.73sINFOobjective_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 + 3.87sINFOros2_control_nodeMuJoCo sim: 0.01% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 4.00sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). ×2 + 4.01sINFOobjective_server_nodePath shortcutter: [X_____________X] ×6 + 4.03sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×21 + 4.05sINFOros2_control_node[2026-11-09 06:01:40.603] [info] Received new action goal ×2 + 4.05sINFOros2_control_node[2026-11-09 06:01:40.603] [info] Accepted new action goal ×2 + 6.90sINFOobjective_server_nodeFound path in 0 iterations (4.62e-07 s). ×2 + 6.92sINFOros2_control_node[2026-11-09 06:01:43.470] [info] Received new action goal ×2 + 6.92sINFOros2_control_node[2026-11-09 06:01:43.470] [info] Accepted new action goal ×2 + 10.06sINFOobjective_server_nodePlanning for 2 path waypoints. ×12 + 10.08sINFOros2_control_node[2026-11-09 06:01:46.629] [info] Received new action goal ×2 + 10.08sINFOros2_control_node[2026-11-09 06:01:46.629] [info] Accepted new action goal ×2 + 12.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.203295 ms (missed cycles : 2). + 12.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.203295 ms (missed cycles : 2).[0m ×2 + 13.04sINFOobjective_server_nodeFound path in 0 iterations (3.43e-07 s). ×2 + 13.05sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 13.09sINFOros2_control_node[2026-11-09 06:01:49.642] [info] Received new action goal ×2 + 13.09sINFOros2_control_node[2026-11-09 06:01:49.642] [info] Accepted new action goal ×2 + 16.05sINFOobjective_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 + 16.05sINFOcontroller_managerActivating controllers: [ velocity_force_controller ] ×2 + 16.05sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 16.05sINFOros2_control_nodeActivating controllers: [ velocity_force_controller ][0m ×4 + 16.05sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 16.05sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 16.05sINFOcontroller_managerActivated controllers: [ velocity_force_controller ] ×2 + 16.05sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 16.05sINFOros2_control_nodeActivated controllers: [ velocity_force_controller ][0m ×4 + 16.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.980270 ms (missed cycles : 2). + 16.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.980270 ms (missed cycles : 2).[0m ×2 + 23.58sINFOobjective_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 + 23.58sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 23.58sINFOcontroller_managerDeactivating controllers: [ velocity_force_controller ] ×2 + 23.58sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 23.58sINFOcontroller_managerDeactivated controllers: [ velocity_force_controller ] ×2 + 23.58sINFOros2_control_nodeDeactivating controllers: [ velocity_force_controller ][0m ×4 + 23.58sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 23.58sINFOros2_control_nodeDeactivated controllers: [ velocity_force_controller ][0m ×4 + 23.58sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 24.42sINFOros2_control_node[2026-11-09 06:02:00.973] [info] Received new action goal ×2 + 24.42sINFOros2_control_node[2026-11-09 06:02:00.973] [info] Accepted new action goal ×2 + 25.61sINFOobjective_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 + 25.62sINFOobjective_server_nodeLink name: grasp_link, position: x=0.6598576612532956;y=0.560002886143494;z=0.650831489837671, orientation: x=-0.00013997501114327708;y=0.9955508839479362;z=0.09420424850691615;w=-0.0019943522071821764 ×3 + 25.89sINFOobjective_server_nodeFound path in 0 iterations (2.29e-07 s). ×2 + 25.94sINFOros2_control_node[2026-11-09 06:02:02.497] [info] Received new action goal ×2 + 25.94sINFOros2_control_node[2026-11-09 06:02:02.497] [info] Accepted new action goal ×2 + 28.22sINFOobjective_server_nodeFound path in 0 iterations (2.3e-07 s). ×2 + 28.23sINFOobjective_server_nodePath shortcutter: [X___________X] ×2 + 28.24sINFOros2_control_node[2026-11-09 06:02:04.794] [info] Received new action goal ×2 + 28.24sINFOros2_control_node[2026-11-09 06:02:04.794] [info] Accepted new action goal ×2 + 31.24sINFOros2_control_node[2026-11-09 06:02:07.794] [info] Received new action goal ×2 + 31.24sINFOros2_control_node[2026-11-09 06:02:07.794] [info] Accepted new action goal ×2 + 33.83sINFOobjective_server_nodeFound path in 0 iterations (2.32e-07 s). ×2 + 33.84sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 33.88sINFOros2_control_node[2026-11-09 06:02:10.437] [info] Received new action goal ×2 + 33.88sINFOros2_control_node[2026-11-09 06:02:10.437] [info] Accepted new action goal ×2 + 44.57sINFOros2_control_node[2026-11-09 06:02:21.125] [info] Received new action goal ×2 + 44.57sINFOros2_control_node[2026-11-09 06:02:21.125] [info] Accepted new action goal ×2 + 45.73sINFOobjective_server_nodeObjective `Move Flasks to Burners` succeeded at time: 1794204142.28185201 seconds ×3 + 46.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Push Button"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 46.30sINFOobjective_server_nodeobjective_name: "Push Button" ×2 + 46.53sINFOobjective_server_nodeObjective `Push Button` starting at time: 1794204143.08696246 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 47.55sINFOobjective_server_nodeFound path in 0 iterations (4.32e-07 s). ×2 + 47.57sINFOobjective_server_nodePath shortcutter: [X___________________________X] ×2 + 47.59sINFOros2_control_node[2026-11-09 06:02:24.141] [info] Received new action goal ×2 + 47.59sINFOros2_control_node[2026-11-09 06:02:24.141] [info] Accepted new action goal ×2 | ||||
| ✓ passed | Record Surface Coverage Demo | record_surface_coverage_demo.xml | 34.7s | 17 warnings · 310 info |
+ 0.00sINFOros2_control_node[2026-11-09 06:04:17.392] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-11-09 06:04:17.392] [info] Accepted new action goal ×2 + 2.07sINFOros2_control_node[2026-11-09 06:04:19.463] [info] Received new action goal ×2 + 2.07sINFOros2_control_node[2026-11-09 06:04:19.463] [info] Accepted new action goal ×2 + 2.87sINFOobjective_server_nodeSaveJointTrajectoryToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/square_traj.yaml' under namespace '' ×3 + 2.87sINFOobjective_server_nodeObjective `Record Square Trajectory` succeeded at time: 1794204260.26024771 seconds ×3 + 2.87sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×5 + 2.87sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×10 + 2.87sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 2.87sINFOcontroller_managerSuccessfully switched controllers! ×10 + 2.87sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 2.87sINFOros2_control_nodeSuccessfully switched controllers![0m ×20 + 2.88sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×10 + 2.88sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.88sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×5 + 2.88sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×10 + 2.89sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×5 + 2.89sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×10 + 3.41sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Record Surface Coverage Demo"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.41sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 3.41sINFOobjective_server_nodeobjective_name: "Record Surface Coverage Demo" ×2 + 3.41sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 3.41sINFOobjective_server_nodeparameter_overrides: [] ×8 + 3.41sINFOobjective_server_nodecaller: ×8 + 3.41sINFOobjective_server_nodetype: 0 ×8 + 3.41sINFOobjective_server_nodename: "" ×8 + 3.41sINFOobjective_server_nodeinstance_id: "" ×8 + 3.41sINFOobjective_server_node ×8 + 3.52sINFOobjective_server_nodeObjective `Record Surface Coverage Demo` starting at time: 1794204260.91014171 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.52sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.52sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.44sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×15 + 4.53sINFOobjective_server_nodeFound path in 0 iterations (5.42e-07 s). ×2 + 4.53sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.54sINFOros2_control_node[2026-11-09 06:04:21.934] [info] Received new action goal ×2 + 4.54sINFOros2_control_node[2026-11-09 06:04:21.934] [info] Accepted new action goal ×2 + 6.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.606645 ms (missed cycles : 6). + 6.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.606645 ms (missed cycles : 6).[0m ×2 + 7.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.249584 ms (missed cycles : 3). + 7.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.249584 ms (missed cycles : 3).[0m ×2 + 9.33sINFOobjective_server_nodeGenerateSurfaceCoveragePath Info: Generated 48 coverage poses over the region's +Z face. ×3 + 9.34sINFOobjective_server_nodePlanning for 49 path waypoints. ×3 + 9.39sINFOros2_control_node[2026-11-09 06:04:26.782] [info] Received new action goal ×2 + 9.39sINFOros2_control_node[2026-11-09 06:04:26.782] [info] Accepted new action goal ×2 + 19.19sINFOobjective_server_nodeFound path in 0 iterations (2.16e-07 s). ×2 + 19.20sINFOobjective_server_nodePath shortcutter: [X__________X] ×2 + 19.20sINFOros2_control_node[2026-11-09 06:04:36.595] [info] Received new action goal ×2 + 19.20sINFOros2_control_node[2026-11-09 06:04:36.596] [info] Accepted new action goal ×2 + 21.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.337602 ms (missed cycles : 5). + 21.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.337602 ms (missed cycles : 5).[0m ×2 + 22.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.283804 ms (missed cycles : 4). + 23.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.283804 ms (missed cycles : 4).[0m ×2 + 23.03sINFOros2_control_nodeMuJoCo sim: 0.01% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 23.56sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×2 + 24.17sINFOobjective_server_nodeGenerateSurfaceCoveragePath Info: Generated 54 coverage poses over the region's +Z face. ×3 + 24.18sINFOobjective_server_nodePlanning for 55 path waypoints. ×3 + 24.23sINFOros2_control_node[2026-11-09 06:04:41.619] [info] Received new action goal ×2 + 24.23sINFOros2_control_node[2026-11-09 06:04:41.619] [info] Accepted new action goal ×2 + 33.72sINFOobjective_server_nodeFound path in 0 iterations (3.25e-07 s). ×2 + 33.73sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 33.74sINFOros2_control_node[2026-11-09 06:04:51.133] [info] Received new action goal ×2 + 33.74sINFOros2_control_node[2026-11-09 06:04:51.133] [info] Accepted new action goal ×2 + 37.53sINFOobjective_server_nodeObjective `Record Surface Coverage Demo` succeeded at time: 1794204294.91836214 seconds ×3 + 38.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 38.07sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 38.30sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1794204295.68924093 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 38.32sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 38.32sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 38.34sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 38.34sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 38.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.474764 ms (missed cycles : 3). + 38.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.474764 ms (missed cycles : 3).[0m ×2 + 38.36sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1794204295.74942970 seconds ×3 + 38.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 38.90sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 38.95sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1794204296.34405279 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 38.97sINFOobjective_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 + 38.97sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1794204296.36551690 seconds ×3 + 39.63sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 39.63sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 39.70sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1794204297.08863306 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 39.80sINFOobjective_server_nodeFound path in 0 iterations (2.56e-07 s). ×2 + 39.80sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 39.81sINFOros2_control_node[2026-11-09 06:04:57.202] [info] Received new action goal ×2 + 39.81sINFOros2_control_node[2026-11-09 06:04:57.202] [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 | 60 warnings · 21664 info |
+ 0.00sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1794204153.85876036 seconds ×3 + 0.01sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 0.01sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 0.01sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×7 + 0.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×14 + 0.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.02sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 0.02sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 0.02sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 0.02sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 0.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.54sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.54sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample" ×2 + 0.54sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.54sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.54sINFOobjective_server_nodecaller: ×4 + 0.54sINFOobjective_server_nodetype: 0 ×4 + 0.54sINFOobjective_server_nodename: "" ×4 + 0.54sINFOobjective_server_nodeinstance_id: "" ×4 + 0.54sINFOobjective_server_node ×4 + 0.61sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1794204154.46892571 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.67sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×15 + 0.76sINFOobjective_server_nodeFound path in 0 iterations (2.59e-07 s). ×2 + 0.76sINFOobjective_server_nodePath shortcutter: [X____X] ×4 + 0.77sINFOros2_control_node[2026-11-09 06:02:34.633] [info] Received new action goal ×2 + 0.77sINFOros2_control_node[2026-11-09 06:02:34.633] [info] Accepted new action goal ×2 + 2.04sINFOobjective_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 + 2.05sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 2.11sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×6 + 2.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] ×2 + 2.11sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 2.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×4 + 2.11sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 2.11sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 2.11sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] ×2 + 2.11sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 2.11sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×4 + 2.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.070523 ms (missed cycles : 2). + 2.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.070523 ms (missed cycles : 2).[0m ×2 + 2.77sINFOjoint_trajectory_controllerReceived new action goal ×3569 + 2.77sINFOjoint_trajectory_controllerAccepted new action goal ×3569 + 2.77sINFOros2_control_nodeReceived new action goal[0m ×7138 + 2.77sINFOros2_control_nodeAccepted new action goal[0m ×7138 + 3.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.877788 ms (missed cycles : 2). + 3.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.877788 ms (missed cycles : 2).[0m ×2 + 5.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.708347 ms (missed cycles : 2). + 5.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.708347 ms (missed cycles : 2).[0m ×2 + 6.57sINFOros2_control_nodeMuJoCo sim: 0.01% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.045877 ms (missed cycles : 2). + 6.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.045877 ms (missed cycles : 2).[0m ×2 + 8.11sINFOjoint_trajectory_controllerGot request to cancel goal ×10 + 8.11sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. ×5 + 8.11sINFOros2_control_nodeGot request to cancel goal[0m ×20 + 8.11sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×10 + 8.13sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×10 + 8.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.260361 ms (missed cycles : 2). + 8.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.260361 ms (missed cycles : 2).[0m ×2 + 9.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.421655 ms (missed cycles : 2). + 9.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.421655 ms (missed cycles : 2).[0m ×2 + 10.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.810823 ms (missed cycles : 2). + 10.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.810823 ms (missed cycles : 2).[0m ×2 + 12.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.886997 ms (missed cycles : 2). + 12.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.886997 ms (missed cycles : 2).[0m ×2 + 13.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.096993 ms (missed cycles : 2). + 13.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.096993 ms (missed cycles : 2).[0m ×2 + 14.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.747196 ms (missed cycles : 2). + 14.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.747196 ms (missed cycles : 2).[0m ×2 + 17.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.241974 ms (missed cycles : 2). + 17.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.241974 ms (missed cycles : 2).[0m ×2 + 18.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.996449 ms (missed cycles : 2). + 18.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.996449 ms (missed cycles : 2).[0m ×2 + 19.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.918459 ms (missed cycles : 2). + 19.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.918459 ms (missed cycles : 2).[0m ×2 + 21.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.756544 ms (missed cycles : 2). + 21.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.756544 ms (missed cycles : 2).[0m ×2 + 22.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.999350 ms (missed cycles : 2). + 22.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.999350 ms (missed cycles : 2).[0m ×2 + 23.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.354926 ms (missed cycles : 2). + 23.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.354926 ms (missed cycles : 2).[0m ×2 + 24.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.667422 ms (missed cycles : 2). + 24.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.667422 ms (missed cycles : 2).[0m ×2 + 26.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.341402 ms (missed cycles : 2). + 26.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.341402 ms (missed cycles : 2).[0m ×2 + 31.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.352420 ms (missed cycles : 2). + 31.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.352420 ms (missed cycles : 2).[0m ×2 + 32.50sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1794204186.36265874 seconds ×3 + 32.51sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 32.51sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 32.52sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 32.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 32.52sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 32.52sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 33.05sINFOobjective_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: ""
+ 33.05sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample" ×2 + 33.15sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1794204187.00578594 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 33.20sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 33.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 33.20sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 33.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 33.20sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 33.20sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 33.20sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 33.20sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 33.20sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 33.29sINFOobjective_server_nodeFound path in 0 iterations (2.72e-07 s). ×2 + 33.30sINFOros2_control_node[2026-11-09 06:03:07.159] [info] Received new action goal ×2 + 33.30sINFOros2_control_node[2026-11-09 06:03:07.159] [info] Accepted new action goal ×2 + 35.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.786951 ms (missed cycles : 2). + 35.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.786951 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Live Surface Coverage Demo | live_surface_coverage_demo.xml | 27.9s | 3 errors · 17 warnings · 150 info |
+ 0.00sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 0.00sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 0.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 0.00sINFOcontroller_managerSuccessfully switched controllers! ×4 + 0.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 0.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 0.05sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 0.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.05sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 0.05sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 0.06sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 0.06sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 0.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Live Surface Coverage Demo"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.58sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.58sINFOobjective_server_nodeobjective_name: "Live Surface Coverage Demo" ×2 + 0.58sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.58sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.58sINFOobjective_server_nodecaller: ×4 + 0.58sINFOobjective_server_nodetype: 0 ×4 + 0.58sINFOobjective_server_nodename: "" ×4 + 0.58sINFOobjective_server_nodeinstance_id: "" ×4 + 0.58sINFOobjective_server_node ×4 + 9.12sERRORobjective_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: 1794204064.39569759 seconds ×3 + 9.25sINFOobjective_server_nodeObjective `Live Surface Coverage Demo` starting at time: 1794204064.51987338 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 9.25sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 9.25sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 10.17sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 10.26sINFOobjective_server_nodeFound path in 0 iterations (2.66e-07 s). ×2 + 10.26sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 10.27sINFOros2_control_node[2026-11-09 06:01:05.543] [info] Received new action goal ×2 + 10.27sINFOros2_control_node[2026-11-09 06:01:05.543] [info] Accepted new action goal ×2 + 12.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.296239 ms (missed cycles : 3). + 12.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.296239 ms (missed cycles : 3).[0m ×2 + 13.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.624433 ms (missed cycles : 5). + 13.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.624433 ms (missed cycles : 5).[0m ×2 + 13.69sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: wrist_camera (1.05 s). The render path has stopped producing new frames for them.[0m ×2 + 14.37sINFOobjective_server_nodeGenerateSurfaceCoveragePath Info: Generated 48 coverage poses over the region's +Z face. ×3 + 14.38sINFOobjective_server_nodePlanning for 49 path waypoints. ×3 + 14.43sINFOros2_control_node[2026-11-09 06:01:09.706] [info] Received new action goal ×2 + 14.43sINFOros2_control_node[2026-11-09 06:01:09.706] [info] Accepted new action goal ×2 + 23.82sINFOobjective_server_nodeLogMessage Info: Live coverage recorded. ×3 + 23.92sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 23.93sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 23.94sINFOros2_control_node[2026-11-09 06:01:19.218] [info] Received new action goal ×2 + 23.94sINFOros2_control_node[2026-11-09 06:01:19.218] [info] Accepted new action goal ×2 + 24.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997000 ms (missed cycles : 2). + 24.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997000 ms (missed cycles : 2).[0m ×2 + 25.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.635379 ms (missed cycles : 4). + 25.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.635379 ms (missed cycles : 4).[0m ×2 + 27.86sINFOobjective_server_nodeObjective `Live Surface Coverage Demo` succeeded at time: 1794204083.13300157 seconds ×3 + 28.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.433770 ms (missed cycles : 2). + 28.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.433770 ms (missed cycles : 2).[0m ×2 + 28.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load and Execute Joint Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 28.39sINFOobjective_server_nodeobjective_name: "Load and Execute Joint Trajectory" ×2 + 28.55sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1794204083.82134247 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 28.65sINFOobjective_server_nodeFound path in 0 iterations (2.97e-07 s). ×2 + 28.66sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 28.67sINFOros2_control_node[2026-11-09 06:01:23.945] [info] Received new action goal ×2 + 28.67sINFOros2_control_node[2026-11-09 06:01:23.945] [info] Accepted new action goal ×2 + 31.14sINFOros2_control_node[2026-11-09 06:01:26.418] [info] Received new action goal ×2 + 31.14sINFOros2_control_node[2026-11-09 06:01:26.418] [info] Accepted new action goal ×2 | ||||
| ✓ passed | MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample | mpc_pose_tracking_static_point_cloud_avoidance_with_sphere_down_sample.xml | 20.1s | 33 warnings · 15388 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×2532 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×2532 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×5064 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×5064 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.352420 ms (missed cycles : 2). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.352420 ms (missed cycles : 2).[0m ×2 + 3.05sINFOjoint_trajectory_controllerGot request to cancel goal ×4 + 3.06sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. ×2 + 3.06sINFOros2_control_nodeGot request to cancel goal[0m ×8 + 3.06sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×4 + 3.06sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1794204186.36265874 seconds ×3 + 3.07sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×2 + 3.07sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×4 + 3.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.07sINFOcontroller_managerSuccessfully switched controllers! ×7 + 3.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×14 + 3.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×2 + 3.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×4 + 3.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×2 + 3.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×4 + 3.61sINFOobjective_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: ""
+ 3.61sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.61sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample" ×2 + 3.61sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.61sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.61sINFOobjective_server_nodecaller: ×4 + 3.61sINFOobjective_server_nodetype: 0 ×4 + 3.61sINFOobjective_server_nodename: "" ×4 + 3.61sINFOobjective_server_nodeinstance_id: "" ×4 + 3.61sINFOobjective_server_node ×4 + 3.71sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1794204187.00578594 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×6 + 3.76sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 3.76sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] ×2 + 3.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 3.76sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×4 + 3.76sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] ×2 + 3.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 3.76sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×4 + 3.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 3.85sINFOobjective_server_nodeFound path in 0 iterations (2.72e-07 s). ×2 + 3.85sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 3.86sINFOros2_control_node[2026-11-09 06:03:07.159] [info] Received new action goal ×2 + 3.86sINFOros2_control_node[2026-11-09 06:03:07.159] [info] Accepted new action goal ×2 + 5.11sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×2 + 5.17sINFOobjective_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 + 5.20sINFOobjective_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 + 5.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.20sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] + 5.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.20sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.20sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] + 5.20sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 5.20sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.786951 ms (missed cycles : 2). + 5.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.786951 ms (missed cycles : 2).[0m ×2 + 7.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704577 ms (missed cycles : 2). + 7.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704577 ms (missed cycles : 2).[0m ×2 + 13.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.266474 ms (missed cycles : 2). + 13.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.266474 ms (missed cycles : 2).[0m ×2 + 15.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.937201 ms (missed cycles : 2). + 15.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.937201 ms (missed cycles : 2).[0m ×2 + 16.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.041237 ms (missed cycles : 2). + 16.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.041237 ms (missed cycles : 2).[0m ×2 + 18.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.991625 ms (missed cycles : 2). + 18.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.991625 ms (missed cycles : 2).[0m ×2 + 19.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.201428 ms (missed cycles : 2). + 19.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.201428 ms (missed cycles : 2).[0m ×2 + 21.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.778730 ms (missed cycles : 2). + 21.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.778730 ms (missed cycles : 2).[0m ×2 + 22.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.711193 ms (missed cycles : 2). + 22.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.711193 ms (missed cycles : 2).[0m ×2 + 23.21sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1794204206.50752926 seconds ×3 + 23.85sINFOobjective_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: ""
+ 23.85sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 23.94sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1794204207.23930359 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 23.94sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 23.94sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 24.12sINFOobjective_server_nodeFound path in 0 iterations (3.68e-07 s). ×2 + 24.12sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 24.14sINFOros2_control_node[2026-11-09 06:03:27.433] [info] Received new action goal ×2 + 24.14sINFOros2_control_node[2026-11-09 06:03:27.433] [info] Accepted new action goal ×2 + 26.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.795459 ms (missed cycles : 5). + 26.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.795459 ms (missed cycles : 5).[0m ×2 | ||||
| ✓ passed | Grasp Pose Using Yaml | grasp_pose_using_yaml.xml | 16.0s | 6 errors · 14 warnings · 191 info |
+ 0.00sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal. + 0.00sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal.[0m ×2 + 0.00sERRORobjective_server_nodeDoTeleoperateAction Error: Failed to send goal request to action server 'do_teleoperate': Goal request was rejected by the action server ×3 + 0.04sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Tuning With April Tag` did not succeed at time: 1794204036.28705001 seconds ×3 + 0.04sINFOobjective_server_nodeObjective failure records are not written: /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/lab_sim/test_results/lab_sim/ros_logs/moveit_pro_runs/latest does not name a run started by `moveit_pro run`. ×3 + 3.02sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.02sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.02sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.03sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.03sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.04sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.04sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Using Yaml"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.56sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.56sINFOobjective_server_nodeobjective_name: "Grasp Pose Using Yaml" ×2 + 3.56sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.56sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.56sINFOobjective_server_nodecaller: ×4 + 3.56sINFOobjective_server_nodetype: 0 ×4 + 3.56sINFOobjective_server_nodename: "" ×4 + 3.56sINFOobjective_server_nodeinstance_id: "" ×4 + 3.56sINFOobjective_server_node ×4 + 3.65sINFOobjective_server_nodeObjective `Grasp Pose Using Yaml` starting at time: 1794204039.90212607 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.65sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.65sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.75sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 3.84sINFOobjective_server_nodeFound path in 0 iterations (2.66e-07 s). ×2 + 3.84sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.86sINFOros2_control_node[2026-11-09 06:00:40.106] [info] Received new action goal ×2 + 3.86sINFOros2_control_node[2026-11-09 06:00:40.106] [info] Accepted new action goal ×2 + 4.17sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.134222 ms (missed cycles : 2). + 5.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.134222 ms (missed cycles : 2).[0m ×2 + 6.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.335150 ms (missed cycles : 5). + 6.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.335150 ms (missed cycles : 5).[0m ×2 + 7.51sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 7.51sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 7.52sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 7.72sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: wrist_camera (1.06 s). The render path has stopped producing new frames for them.[0m ×2 + 7.79sINFOobjective_server_nodeFound path in 0 iterations (2.94e-07 s). ×2 + 7.79sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 7.80sINFOobjective_server_nodeFound path in 0 iterations (1.92e-07 s). ×2 + 7.80sINFOobjective_server_nodePath shortcutter: [X_______________X] ×2 + 7.81sINFOobjective_server_nodeFound path in 0 iterations (1.91e-07 s). ×2 + 7.83sINFOobjective_server_nodePath shortcutter: [X_________________________________X] ×2 + 7.84sINFOobjective_server_nodeFound path in 0 iterations (1.93e-07 s). ×2 + 7.91sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 7.92sINFOobjective_server_nodeFound path in 5 iterations (0.00436725 s). ×2 + 8.01sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________X_X______________________X] ×2 + 8.03sINFOobjective_server_nodeFound path in 0 iterations (1.96e-07 s). ×4 + 8.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.037353 ms (missed cycles : 5). + 8.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.037353 ms (missed cycles : 5).[0m ×2 + 8.12sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X] ×4 + 8.13sINFOobjective_server_nodeFound path in 0 iterations (1.75e-07 s). ×2 + 8.26sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X] ×2 + 8.40sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________X] ×2 + 8.53sINFOros2_control_node[2026-11-09 06:00:44.779] [info] Received new action goal ×2 + 8.53sINFOros2_control_node[2026-11-09 06:00:44.779] [info] Accepted new action goal ×2 + 11.05sINFOobjective_server_nodeFound path in 0 iterations (5.73e-07 s). ×2 + 11.05sINFOobjective_server_nodePath shortcutter: [X__X] ×2 + 11.05sINFOobjective_server_nodeFound path in 0 iterations (2.34e-07 s). ×2 + 11.06sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 11.07sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 11.17sINFOobjective_server_nodeFound path in 1 iterations (0.00324614 s). ×2 + 11.31sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________________________X_________________X] ×2 + 11.40sINFOros2_control_node[2026-11-09 06:00:47.648] [info] Received new action goal ×2 + 11.40sINFOros2_control_node[2026-11-09 06:00:47.648] [info] Accepted new action goal ×2 + 11.83sINFOros2_control_node[2026-11-09 06:00:48.079] [info] Received new action goal ×2 + 11.83sINFOros2_control_node[2026-11-09 06:00:48.079] [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 + 14.02sINFOrobotiq_gripper_controllerGot request to cancel goal + 14.02sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 19.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Live Surface Coverage Demo"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 19.60sINFOobjective_server_nodeobjective_name: "Live Surface Coverage Demo" ×2 | ||||
| ✓ passed | Load and Execute Joint Trajectory | load_and_execute_joint_trajectory.xml | 11.8s | 9 warnings · 203 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.635379 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.635379 ms (missed cycles : 4).[0m ×2 + 1.98sINFOobjective_server_nodeObjective `Live Surface Coverage Demo` succeeded at time: 1794204083.13300157 seconds ×3 + 1.98sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.99sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.99sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.99sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.99sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.99sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.99sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.99sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.99sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.99sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.00sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.00sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.433770 ms (missed cycles : 2). + 2.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.433770 ms (missed cycles : 2).[0m ×2 + 2.52sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load and Execute Joint Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.52sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.52sINFOobjective_server_nodeobjective_name: "Load and Execute Joint Trajectory" ×2 + 2.52sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.52sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.52sINFOobjective_server_nodecaller: ×6 + 2.52sINFOobjective_server_nodetype: 0 ×6 + 2.52sINFOobjective_server_nodename: "" ×6 + 2.52sINFOobjective_server_nodeinstance_id: "" ×6 + 2.52sINFOobjective_server_node ×6 + 2.67sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1794204083.82134247 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.68sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 2.78sINFOobjective_server_nodeFound path in 0 iterations (2.97e-07 s). ×2 + 2.78sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 2.79sINFOros2_control_node[2026-11-09 06:01:23.945] [info] Received new action goal ×2 + 2.79sINFOros2_control_node[2026-11-09 06:01:23.945] [info] Accepted new action goal ×2 + 5.27sINFOros2_control_node[2026-11-09 06:01:26.418] [info] Received new action goal ×2 + 5.27sINFOros2_control_node[2026-11-09 06:01:26.418] [info] Accepted new action goal ×2 + 13.83sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1794204094.98059320 seconds ×3 + 14.37sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load MuJoCo Robot State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.37sINFOobjective_server_nodeobjective_name: "Load MuJoCo Robot State" ×2 + 14.42sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1794204095.57405829 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.47sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 14.47sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 14.47sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 14.48sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 14.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.641343 ms (missed cycles : 7). + 14.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.641343 ms (missed cycles : 7).[0m ×2 + 14.50sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1794204095.65420938 seconds ×3 + 15.23sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 15.23sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 15.30sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1794204096.45271182 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.40sINFOobjective_server_nodeFound path in 0 iterations (2.56e-07 s). ×2 + 15.40sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 15.41sINFOros2_control_node[2026-11-09 06:01:36.566] [info] Received new action goal ×2 + 15.41sINFOros2_control_node[2026-11-09 06:01:36.566] [info] Accepted new action goal ×2 + 17.42sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1794204098.57288051 seconds ×3 | ||||
| ✓ passed | Pick April Tag Labeled Object | apriltag_pick_object.xml | 11.6s | 3 errors · 23 warnings · 268 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.353990 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.353990 ms (missed cycles : 4).[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.373078 ms (missed cycles : 3). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.373078 ms (missed cycles : 3).[0m ×2 + 1.47sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.47sERRORobjective_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: 1794204004.37914968 seconds ×3 + 1.48sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.48sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.48sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 1.48sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.48sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 1.48sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.49sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 1.49sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.49sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.49sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.49sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.01sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.01sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 2.01sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.01sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 2.01sINFOobjective_server_nodeparameter_overrides: [] ×8 + 2.01sINFOobjective_server_nodecaller: ×8 + 2.01sINFOobjective_server_nodetype: 0 ×8 + 2.01sINFOobjective_server_nodename: "" ×8 + 2.01sINFOobjective_server_nodeinstance_id: "" ×8 + 2.01sINFOobjective_server_node ×8 + 2.07sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1794204004.97783136 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.338362 ms (missed cycles : 4). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.338362 ms (missed cycles : 4).[0m ×2 + 2.20sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1794204005.10798550 seconds ×3 + 2.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.76sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 2.82sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1794204005.72909689 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.83sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.92sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 3.01sINFOobjective_server_nodeFound path in 0 iterations (2.21e-07 s). ×2 + 3.01sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.03sINFOros2_control_node[2026-11-09 06:00:05.933] [info] Received new action goal ×2 + 3.03sINFOros2_control_node[2026-11-09 06:00:05.933] [info] Accepted new action goal ×2 + 5.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.133914 ms (missed cycles : 2). + 5.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.133914 ms (missed cycles : 2).[0m ×2 + 6.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.124044 ms (missed cycles : 5). + 6.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.124044 ms (missed cycles : 5).[0m ×2 + 7.09sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: wrist_camera (1.02 s). The render path has stopped producing new frames for them.[0m ×2 + 7.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.458335 ms (missed cycles : 6). + 7.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.458335 ms (missed cycles : 6).[0m ×2 + 7.94sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 7.94sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 7.95sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 8.23sINFOobjective_server_nodeFound path in 0 iterations (2.29e-07 s). ×2 + 8.23sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 8.24sINFOobjective_server_nodeFound path in 0 iterations (3.61e-07 s). ×2 + 8.25sINFOobjective_server_nodePath shortcutter: [X_______________X] ×2 + 8.26sINFOobjective_server_nodeFound path in 0 iterations (4.78e-07 s). ×2 + 8.32sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 8.35sINFOobjective_server_nodeFound path in 1 iterations (0.00341258 s). ×2 + 8.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.915079 ms (missed cycles : 3). + 8.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.915079 ms (missed cycles : 3).[0m ×2 + 8.48sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________________X__________________X] ×2 + 8.55sINFOros2_control_node[2026-11-09 06:00:11.459] [info] Received new action goal ×2 + 8.55sINFOros2_control_node[2026-11-09 06:00:11.459] [info] Accepted new action goal ×2 + 10.86sINFOros2_control_node[2026-11-09 06:00:13.761] [info] Received new action goal ×2 + 10.86sINFOros2_control_node[2026-11-09 06:00:13.761] [info] Accepted new action goal ×2 + 12.48sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 12.49sINFOros2_control_node[2026-11-09 06:00:15.393] [info] Received new action goal ×2 + 12.49sINFOros2_control_node[2026-11-09 06:00:15.393] [info] Accepted new action goal ×2 + 13.78sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1794204016.68952608 seconds ×3 + 14.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.32sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 14.40sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1794204017.30650568 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.49sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1794204017.39664626 seconds ×3 + 15.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 15.08sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 15.15sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1794204018.05174589 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.25sINFOobjective_server_nodeFound path in 0 iterations (2.76e-07 s). ×2 + 15.25sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 15.26sINFOros2_control_node[2026-11-09 06:00:18.166] [info] Received new action goal ×2 + 15.26sINFOros2_control_node[2026-11-09 06:00:18.166] [info] Accepted new action goal ×2 | ||||
| ✓ passed | Push Button | move_with_velocity_and_force.xml | 11.5s | 6 warnings · 1136 info |
+ 0.00sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: velocity_force_controller ×6 + 0.00sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 0.00sINFOcontroller_managerDeactivating controllers: [ velocity_force_controller ] ×2 + 0.00sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 0.00sINFOcontroller_managerDeactivated controllers: [ velocity_force_controller ] ×2 + 0.00sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 0.00sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.00sINFOros2_control_nodeDeactivating controllers: [ velocity_force_controller ][0m ×4 + 0.00sINFOros2_control_nodeDeactivated controllers: [ velocity_force_controller ][0m ×4 + 0.00sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 0.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.88sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.89sINFOros2_control_node[2026-11-09 06:02:21.125] [info] Received new action goal ×2 + 0.89sINFOros2_control_node[2026-11-09 06:02:21.125] [info] Accepted new action goal ×2 + 2.05sINFOobjective_server_nodeObjective `Move Flasks to Burners` succeeded at time: 1794204142.28185201 seconds ×3 + 2.09sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.09sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.09sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.09sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.09sINFOros2_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 + 2.10sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.10sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.62sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Push Button"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.62sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.62sINFOobjective_server_nodeobjective_name: "Push Button" ×2 + 2.62sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.62sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.62sINFOobjective_server_nodecaller: ×4 + 2.62sINFOobjective_server_nodetype: 0 ×4 + 2.62sINFOobjective_server_nodename: "" ×4 + 2.62sINFOobjective_server_nodeinstance_id: "" ×4 + 2.62sINFOobjective_server_node ×4 + 2.85sINFOobjective_server_nodeObjective `Push Button` starting at time: 1794204143.08696246 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.78sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.87sINFOobjective_server_nodeFound path in 0 iterations (4.32e-07 s). ×2 + 3.89sINFOobjective_server_nodePath shortcutter: [X___________________________X] ×2 + 3.91sINFOros2_control_node[2026-11-09 06:02:24.141] [info] Received new action goal ×2 + 3.91sINFOros2_control_node[2026-11-09 06:02:24.141] [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 + 10.00sINFOobjective_server_nodeFound path in 0 iterations (3.78e-07 s). ×2 + 10.01sINFOobjective_server_nodePath shortcutter: [X_________________________X] ×2 + 10.02sINFOros2_control_node[2026-11-09 06:02:30.253] [info] Received new action goal ×2 + 10.02sINFOros2_control_node[2026-11-09 06:02:30.253] [info] Accepted new action goal ×2 + 13.63sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1794204153.85876036 seconds ×3 + 14.17sINFOobjective_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: ""
+ 14.17sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample" ×2 + 14.24sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1794204154.46892571 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.39sINFOobjective_server_nodeFound path in 0 iterations (2.59e-07 s). ×2 + 14.39sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 14.40sINFOros2_control_node[2026-11-09 06:02:34.633] [info] Received new action goal ×2 + 14.40sINFOros2_control_node[2026-11-09 06:02:34.633] [info] Accepted new action goal ×2 + 15.67sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.16727752384940525;y=0.47323919871065;z=0.7971805284211555, orientation: x=0.5894248519484582;y=0.7987881401812754;z=0.09721280806199328;w=-0.07117247333048911 ×3 + 15.67sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 15.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 15.73sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 15.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 15.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 16.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.070523 ms (missed cycles : 2). + 16.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.070523 ms (missed cycles : 2).[0m ×2 + 16.40sINFOjoint_trajectory_controllerReceived new action goal ×153 + 16.40sINFOjoint_trajectory_controllerAccepted new action goal ×153 + 16.40sINFOros2_control_nodeReceived new action goal[0m ×306 + 16.40sINFOros2_control_nodeAccepted new action goal[0m ×304 + 17.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.877788 ms (missed cycles : 2). + 17.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.877788 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Take Wrist Camera Snapshot | wrist_snap.xml | 11.5s | 77 errors · 22 warnings · 473 info |
+ 0.00sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOros2_control_node[2026-11-09 06:05:07.278] [info] Got request to cancel active goal. ×2 + 0.01sINFOros2_control_node[2026-11-09 06:05:07.278] [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: 1794204307.28312254 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 + 0.62sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1794204307.89583302 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706657 ms (missed cycles : 2). + 0.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706657 ms (missed cycles : 2).[0m ×2 + 1.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.857431 ms (missed cycles : 3). + 1.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.857431 ms (missed cycles : 3).[0m ×2 + 1.85sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1794204309.12598801 seconds ×3 + 2.40sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.40sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 2.46sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1794204309.72942376 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.46sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 2.46sINFOobjective_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 + 2.46sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 2.46sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1794204309.73150182 seconds ×3 + 2.73sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 3.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.13sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 3.19sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1794204310.46350455 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.22sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1794204310.49432635 seconds ×3 + 3.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.76sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 3.82sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1794204311.08818245 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.192605 ms (missed cycles : 2). + 4.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.192605 ms (missed cycles : 2).[0m ×2 + 5.08sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1794204312.35299706 seconds ×3 + 5.12sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.120039 ms (missed cycles : 2). + 5.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.120039 ms (missed cycles : 2).[0m ×2 + 10.84sERRORweb_video_auth_proxy-25process[web_video_auth_proxy-25] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.84sERRORweb_bridge_auth_proxy-24process[web_bridge_auth_proxy-24] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.84sERRORvideo_server-23process[video_server-23] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.84sERRORtf2_web_republisher_node-22process[tf2_web_republisher_node-22] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.84sERRORjoint_state_visualization_relay-21process[joint_state_visualization_relay-21] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.85sERRORtf_visualization_relay-20process[tf_visualization_relay-20] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.85sERRORweb_bridge-19process[web_bridge-19] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.85sERRORui_teleop_bridge-18process[ui_teleop_bridge-18] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.85sERRORexecute_objective_bridge-17process[execute_objective_bridge-17] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.85sERRORcomponent_container_mt-16process[component_container_mt-16] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.85sERRORcomponent_container_mt-15process[component_container_mt-15] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.85sERRORobjective_server_node_main-14process[objective_server_node_main-14] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.85sERRORmove_end_effector_resampler_node-13process[move_end_effector_resampler_node-13] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.85sERRORmove_joint_resampler_node-12process[move_joint_resampler_node-12] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.85sERRORwaypoint_manager_node-11process[waypoint_manager_node-11] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.85sERRORparameter_manager_node-10process[parameter_manager_node-10] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.86sERRORmove_group-9process[move_group-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.86sERRORros2_control_node-1process[ros2_control_node-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.86sINFOweb_video_auth_proxy-25sending signal 'SIGTERM' to process[web_video_auth_proxy-25] ×2 + 10.86sINFOweb_bridge_auth_proxy-24sending signal 'SIGTERM' to process[web_bridge_auth_proxy-24] ×2 + 10.86sERRORweb_video_auth_proxy-25process has died [pid 8452, 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 + 10.86sINFOvideo_server-23sending signal 'SIGTERM' to process[video_server-23] ×2 + 10.87sERRORweb_bridge_auth_proxy-24process has died [pid 8451, 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 + 10.87sINFOtf2_web_republisher_node-22sending signal 'SIGTERM' to process[tf2_web_republisher_node-22] ×2 + 10.87sINFOjoint_state_visualization_relay-21sending signal 'SIGTERM' to process[joint_state_visualization_relay-21] ×2 + 10.88sINFOtf_visualization_relay-20sending signal 'SIGTERM' to process[tf_visualization_relay-20] ×2 + 10.88sINFOweb_bridge-19sending signal 'SIGTERM' to process[web_bridge-19] ×2 + 10.89sINFOui_teleop_bridge-18sending signal 'SIGTERM' to process[ui_teleop_bridge-18] ×2 + 10.89sINFOexecute_objective_bridge-17sending signal 'SIGTERM' to process[execute_objective_bridge-17] ×2 + 10.89sINFOvideo_server-23process has finished cleanly [pid 8449] ×2 + 10.89sINFOcomponent_container_mt-16sending signal 'SIGTERM' to process[component_container_mt-16] ×2 + 10.90sINFOcomponent_container_mt-15sending signal 'SIGTERM' to process[component_container_mt-15] ×2 + 10.90sINFOobjective_server_node_main-14sending signal 'SIGTERM' to process[objective_server_node_main-14] ×2 + 10.91sINFOmove_end_effector_resampler_node-13sending signal 'SIGTERM' to process[move_end_effector_resampler_node-13] ×2 + 10.91sINFOmove_joint_resampler_node-12sending signal 'SIGTERM' to process[move_joint_resampler_node-12] ×2 + 10.92sINFOwaypoint_manager_node-11sending signal 'SIGTERM' to process[waypoint_manager_node-11] ×2 + 10.92sINFOparameter_manager_node-10sending signal 'SIGTERM' to process[parameter_manager_node-10] ×2 + 10.93sINFOmove_group-9sending signal 'SIGTERM' to process[move_group-9] ×2 + 10.93sINFOros2_control_node-1sending signal 'SIGTERM' to process[ros2_control_node-1] ×2 + 10.93sINFOcontroller_managerShutdown request received.... + 10.93sINFOcontroller_managerShutting down all controllers in the controller manager. + 10.93sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 10.93sINFOcontroller_managerDeactivating controller 'robotiq_gripper_controller' + 10.93sINFOlaunchprocess[web_bridge_auth_proxy-24] was required: shutting down launched system ×2 + 10.94sINFOcontroller_managerShutting down controller 'robotiq_gripper_controller' + 10.94sINFOcontroller_managerDeactivating controller 'joint_trajectory_admittance_controller' + 10.94sINFOvideo_server2026/11/09 06:05:18 INF shutting down gracefully ×2 + 10.94sINFOcontroller_managerShutting down controller 'joint_trajectory_admittance_controller' + 10.94sINFOvideo_server2026/11/09 06:05:18 INF [WebRTC] closing ×2 + 10.94sINFOvideo_server2026/11/09 06:05:18 INF [RTSP] closing ×2 + 10.94sINFOvideo_server2026/11/09 06:05:18 INF waiting for running hooks ×2 + 10.94sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 10.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.770385 ms (missed cycles : 2). + 10.94sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 10.94sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.94sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 10.94sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 10.94sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 10.94sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 10.94sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.94sINFOcontroller_managerShutting down the controller manager. + 10.94sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' ×2 + 10.94sERRORmove_groupwhat(): context cannot be slept with because it's invalid ×2 + 10.94sERRORmove_groupStack trace (most recent call last) in thread 8846: ×2 + 10.94sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.94sINFOros2_control_nodeShutdown request received....[0m ×2 + 10.94sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m ×2 + 10.94sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m ×2 + 10.94sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×12 + 10.94sINFOros2_control_nodeDeactivating controller 'robotiq_gripper_controller'[0m ×2 + 10.94sINFOros2_control_nodeShutting down controller 'robotiq_gripper_controller'[0m ×2 + 10.94sINFOros2_control_nodeDeactivating controller 'joint_trajectory_admittance_controller'[0m ×2 + 10.94sINFOros2_control_nodeShutting down controller 'joint_trajectory_admittance_controller'[0m ×2 + 10.94sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m ×2 + 10.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.770385 ms (missed cycles : 2).[0m ×2 + 10.94sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m ×2 + 10.94sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m ×2 + 10.94sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m ×2 + 10.94sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m ×2 + 10.94sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m ×2 + 10.94sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m ×2 + 10.94sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m ×2 + 10.94sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m ×2 + 10.94sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m ×2 + 10.94sINFOros2_control_nodeShutting down the controller manager.[0m ×2 + 10.94sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 10.94sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fc900c15cc3, in __clone ×2 + 10.94sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fc900b88b83, in ×2 + 10.94sERRORros2_control_nodeException in publisher thread: context cannot be slept with because it's invalid!. Aborting![0m ×4 + 10.94sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fc900e19db3, in ×2 + 10.95sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so", at 0x7fc901583d64, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() ×2 + 10.95sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fc9011ad620, in rclcpp::Rate::sleep() ×2 + 10.95sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fc9010efd18, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) ×2 + 10.95sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fc9010b1087, in ×2 + 10.95sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fc900de8390, in __cxa_throw ×2 + 10.95sWARNparameter_manager_nodeROS node was shutdown. ×2 + 10.95sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fc900dd2a54, in std::terminate() ×2 + 10.95sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fc900de80d9, in ×2 + 10.95sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fc900dd2ff4, in ×2 + 10.95sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fc900b148fe, in abort ×2 + 10.95sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fc900b3127d, in raise ×2 + 10.95sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fc900b8ac0c, in pthread_kill ×2 + 10.95sERRORmove_groupAborted (Signal sent by tkill() 8366 0) ×2 + 10.96sERRORmove_group-9process has died [pid 8366, exit code -6, cmd '/opt/overlay_ws/install/moveit_ros_move_group/lib/moveit_ros_move_group/move_group --ros-args --log-level error --ros-args --params-file /tmp/launch_params_mmtdtevx --params-file /tmp/launch_params_fg9500px --params-file /tmp/launch_params_z2ivoc9m --params-file /tmp/launch_params_w0ml7oc3 --params-file /tmp/launch_params_t3jpt7r7 --params-file /tmp/launch_params_qlj0i0z3']. ×2 + 11.14sINFOros2_control_nodeAsync messages lost 0[0m ×4 + 11.14sINFOros2_control_nodepublish_async_failures_ 0[0m ×4 + 11.91sERRORjoint_state_visualization_relayTraceback (most recent call last): ×2 + 11.91sINFOjoint_state_visualization_relayFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/joint_state_visualization_relay", line 33, in <module> ×2 + 11.91sINFOjoint_state_visualization_relaysys.exit(load_entry_point('moveit-studio-bridge==10.3.0', 'console_scripts', 'joint_state_visualization_relay')()) ×2 + 11.91sINFOjoint_state_visualization_relay^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 11.91sINFOjoint_state_visualization_relayFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/python3.12/site-packages/moveit_studio_bridge/joint_state_visualization_relay.py", line 95, in main ×2 + 11.91sINFOjoint_state_visualization_relayrclpy.spin(node) ×2 + 11.91sINFOjoint_state_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 11.91sINFOjoint_state_visualization_relayexecutor.spin_once() ×2 + 11.91sINFOjoint_state_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 11.91sINFOjoint_state_visualization_relayself._spin_once_impl(timeout_sec) ×2 + 11.91sINFOjoint_state_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 11.91sINFOjoint_state_visualization_relayhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 11.91sINFOjoint_state_visualization_relay^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 11.91sINFOjoint_state_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 11.91sINFOjoint_state_visualization_relayreturn next(self._cb_iter) ×2 + 11.91sINFOjoint_state_visualization_relay^^^^^^^^^^^^^^^^^^^ ×2 + 11.91sINFOjoint_state_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks ×2 + 11.91sINFOjoint_state_visualization_relayraise ExternalShutdownException() ×2 + 11.91sINFOjoint_state_visualization_relayrclpy.executors.ExternalShutdownException ×2 + 11.91sERRORtf_visualization_relayTraceback (most recent call last): ×2 + 11.91sINFOtf_visualization_relayFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/tf_visualization_relay", line 33, in <module> ×2 + 11.91sINFOtf_visualization_relaysys.exit(load_entry_point('moveit-studio-bridge==10.3.0', 'console_scripts', 'tf_visualization_relay')()) ×2 + 11.91sINFOtf_visualization_relay^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 11.91sINFOtf_visualization_relayFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/python3.12/site-packages/moveit_studio_bridge/tf_visualization_relay.py", line 123, in main ×2 + 11.91sINFOtf_visualization_relayrclpy.spin(node) ×2 + 11.91sINFOtf_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 11.91sINFOtf_visualization_relayexecutor.spin_once() ×2 + 11.91sINFOtf_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 11.91sINFOtf_visualization_relayself._spin_once_impl(timeout_sec) ×2 + 11.91sINFOtf_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 11.91sINFOtf_visualization_relayhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 11.91sINFOtf_visualization_relay^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 11.91sINFOtf_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 11.91sINFOtf_visualization_relayreturn next(self._cb_iter) ×2 + 11.91sINFOtf_visualization_relay^^^^^^^^^^^^^^^^^^^ ×2 + 11.91sINFOtf_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 757, in _wait_for_ready_callbacks ×2 + 11.91sINFOtf_visualization_relaywait_set = _rclpy.WaitSet( ×2 + 11.91sINFOtf_visualization_relay^^^^^^^^^^^^^^^ ×2 + 11.91sINFOtf_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 + 11.92sINFOtf2_web_republisher_node-22process has finished cleanly [pid 8448] ×2 + 11.92sINFOlaunchprocess[tf2_web_republisher_node-22] was required: shutting down launched system ×2 + 11.95sINFOmove_end_effector_resampler_node-13process has finished cleanly [pid 8370] ×2 + 11.96sINFOmove_joint_resampler_node-12process has finished cleanly [pid 8369] ×2 + 11.96sERRORjoint_state_visualization_relay-21process has died [pid 8446, 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_kp53v71l']. ×2 + 11.96sINFOlaunchprocess[joint_state_visualization_relay-21] was required: shutting down launched system ×2 + 11.97sERRORtf_visualization_relay-20process has died [pid 8445, 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_w37qgb2s']. ×2 + 11.97sINFOlaunchprocess[tf_visualization_relay-20] was required: shutting down launched system ×2 + 12.00sINFOui_teleop_bridge-18process has finished cleanly [pid 8375] ×2 + 12.00sINFOwaypoint_manager_node-11process has finished cleanly [pid 8368] ×2 + 12.00sINFOparameter_manager_node-10process has finished cleanly [pid 8367] ×2 + 12.00sINFOexecute_objective_bridge-17process has finished cleanly [pid 8374] ×2 + 12.06sINFOcomponent_container_mt-16process has finished cleanly [pid 8373] ×2 + 12.09sINFOobjective_server_node[0;m[2026-11-09 06:05:19.357] [moveit_pro_license] [info] ×2 + 12.09sINFOobjective_server_node************************************************* ×4 + 12.09sINFOobjective_server_node* MoveIt Pro License ×2 + 12.09sINFOobjective_server_node* Application has successfully terminated ×2 + 12.34sINFOobjective_server_node_main-14process has finished cleanly [pid 8371] ×2 + 12.34sINFOlaunchprocess[objective_server_node_main-14] was required: shutting down launched system ×2 + 13.09sINFOcomponent_container_mt-15process has finished cleanly [pid 8372] ×2 + 13.32sINFOweb_bridge-19process has finished cleanly [pid 8376] ×2 + 13.32sINFOlaunchprocess[web_bridge-19] was required: shutting down launched system ×2 + 13.61sINFOros2_control_node-1process has finished cleanly [pid 8315] ×2 | ||||
| ✓ passed | 3 Waypoints Pick and Place | 3_waypoint_pick_and_place.xml | 11.2s | 3 errors · 6 warnings · 426 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1794203979.43597269 seconds ×3 + 0.01sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.01sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.01sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.56sINFOobjective_server_nodeReceived /do_objective goal: ×12 + 0.56sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.56sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 0.56sINFOobjective_server_nodeparameter_overrides: [] ×12 + 0.56sINFOobjective_server_nodecaller: ×12 + 0.56sINFOobjective_server_nodetype: 0 ×12 + 0.56sINFOobjective_server_nodename: "" ×12 + 0.56sINFOobjective_server_nodeinstance_id: "" ×12 + 0.56sINFOobjective_server_node ×12 + 0.62sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1794203980.05339074 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: 1794203980.11356640 seconds ×3 + 0.99sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.28sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.34sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1794203980.77122474 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.35sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1794203980.78138709 seconds ×3 + 1.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.88sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1794203981.37230325 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.09sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1794203981.52283812 seconds ×3 + 2.69sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.69sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.75sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1794203982.18714046 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.77sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.77sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.78sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.78sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.78sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.587784 ms (missed cycles : 3). + 2.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.587784 ms (missed cycles : 3).[0m ×2 + 2.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1794203982.23731589 seconds ×3 + 3.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.34sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.44sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1794203982.87846088 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.45sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.46sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.46sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.46sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.46sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.46sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.46sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.46sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.46sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.55sINFOobjective_server_nodeFound path in 0 iterations (2.2142e-05 s). ×2 + 3.56sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 3.57sINFOros2_control_node[2026-11-09 05:59:43.006] [info] Received new action goal ×2 + 3.57sINFOros2_control_node[2026-11-09 05:59:43.006] [info] Accepted new action goal ×2 + 5.96sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×15 + 6.05sINFOobjective_server_nodeFound path in 0 iterations (2.29e-07 s). ×2 + 6.06sINFOobjective_server_nodePath shortcutter: [X___________________X] ×4 + 6.08sINFOros2_control_node[2026-11-09 05:59:45.513] [info] Received new action goal ×2 + 6.08sINFOros2_control_node[2026-11-09 05:59:45.513] [info] Accepted new action goal ×2 + 9.70sINFOobjective_server_nodeFound path in 0 iterations (3.68e-07 s). ×2 + 9.72sINFOros2_control_node[2026-11-09 05:59:49.153] [info] Received new action goal ×2 + 9.72sINFOros2_control_node[2026-11-09 05:59:49.153] [info] Accepted new action goal ×2 + 13.02sINFOobjective_server_nodeFound path in 0 iterations (2.47e-07 s). ×2 + 13.03sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 13.05sINFOros2_control_node[2026-11-09 05:59:52.483] [info] Received new action goal ×2 + 13.05sINFOros2_control_node[2026-11-09 05:59:52.483] [info] Accepted new action goal ×2 + 13.93sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 13.94sINFOros2_control_node[2026-11-09 05:59:53.378] [info] Got request to cancel active goal. ×2 + 13.94sINFOros2_control_node[2026-11-09 05:59:53.378] [info] Canceling active goal... ×2 + 13.97sERRORobjective_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: 1794203993.40469241 seconds ×3 + 13.97sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 13.97sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 13.98sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 13.98sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 13.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.233498 ms (missed cycles : 2). + 13.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.233498 ms (missed cycles : 2).[0m ×2 + 13.99sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 13.99sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 14.60sINFOobjective_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: ""
+ 14.60sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place with AprilTags" ×2 + 14.69sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place with AprilTags` starting at time: 1794203994.12855339 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.92sINFOobjective_server_nodeFound path in 0 iterations (2.94e-07 s). ×2 + 14.94sINFOros2_control_node[2026-11-09 05:59:54.372] [info] Received new action goal ×2 + 14.94sINFOros2_control_node[2026-11-09 05:59:54.372] [info] Accepted new action goal ×2 + 17.19sINFOobjective_server_nodeFound path in 0 iterations (2.89e-07 s). ×2 + 17.20sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 17.21sINFOros2_control_node[2026-11-09 05:59:56.642] [info] Received new action goal ×2 + 17.21sINFOros2_control_node[2026-11-09 05:59:56.642] [info] Accepted new action goal ×2 | ||||
| ✓ passed | Record and Replay Scanning Motion | record_and_replay_scanning_motion.xml | 11.0s | 3 errors · 125 info |
+ 0.00sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1794204238.77662325 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 + 0.02sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 0.02sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 0.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Record and Replay Scanning Motion"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.54sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.54sINFOobjective_server_nodeobjective_name: "Record and Replay Scanning Motion" ×2 + 0.54sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.54sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.54sINFOobjective_server_nodecaller: ×4 + 0.54sINFOobjective_server_nodetype: 0 ×4 + 0.54sINFOobjective_server_nodename: "" ×4 + 0.54sINFOobjective_server_nodeinstance_id: "" ×4 + 0.54sINFOobjective_server_node ×4 + 0.63sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1794204239.40432262 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.64sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.74sINFOobjective_server_nodeFound path in 0 iterations (2.57e-07 s). ×2 + 0.74sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 0.75sINFOros2_control_node[2026-11-09 06:03:59.529] [info] Received new action goal ×2 + 0.75sINFOros2_control_node[2026-11-09 06:03:59.529] [info] Accepted new action goal ×2 + 2.66sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 10.99sINFOobjective_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 + 11.00sERRORobjective_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: 1794204249.77468252 seconds ×3 + 11.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Record Square Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 11.54sINFOobjective_server_nodeobjective_name: "Record Square Trajectory" ×2 + 11.61sINFOobjective_server_nodeObjective `Record Square Trajectory` starting at time: 1794204250.38262677 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 11.73sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). ×2 + 11.74sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 11.76sINFOros2_control_node[2026-11-09 06:04:10.538] [info] Received new action goal ×2 + 11.76sINFOros2_control_node[2026-11-09 06:04:10.538] [info] Accepted new action goal ×2 | ||||
| ✓ passed | Plan and Save Trajectory | plan_and_save_trajectory.xml | 11.0s | 3 errors · 137 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[2026-11-09 06:03:35.253] [info] Received new action goal ×2 + 0.35sINFOros2_control_node[2026-11-09 06:03:35.253] [info] Accepted new action goal ×2 + 1.65sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1794204216.54951668 seconds ×3 + 2.41sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.41sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.41sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.41sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.41sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.41sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.42sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.42sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.42sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.42sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.42sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.42sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.95sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.95sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 2.95sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.95sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.95sINFOobjective_server_nodecaller: ×4 + 2.95sINFOobjective_server_nodetype: 0 ×4 + 2.95sINFOobjective_server_nodename: "" ×4 + 2.95sINFOobjective_server_nodeinstance_id: "" ×4 + 2.95sINFOobjective_server_node ×4 + 3.04sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1794204217.94376373 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.21sINFOobjective_server_nodeFound path in 0 iterations (3.05e-07 s). ×2 + 3.21sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.22sINFOros2_control_node[2026-11-09 06:03:38.117] [info] Received new action goal ×2 + 3.22sINFOros2_control_node[2026-11-09 06:03:38.117] [info] Accepted new action goal ×2 + 5.12sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 5.52sINFOros2_control_nodeMuJoCo sim: 0.01% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 13.37sINFOobjective_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 + 13.37sERRORobjective_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: 1794204228.27436638 seconds ×3 + 13.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Playback Square Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 13.94sINFOobjective_server_nodeobjective_name: "Playback Square Trajectory" ×2 + 14.00sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1794204228.90223098 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.26sINFOobjective_server_nodeFound path in 0 iterations (3.89e-07 s). ×2 + 14.27sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 14.28sINFOros2_control_node[2026-11-09 06:03:49.183] [info] Received new action goal ×2 + 14.28sINFOros2_control_node[2026-11-09 06:03:49.183] [info] Accepted new action goal ×2 | ||||
| ✓ passed | 3 Waypoints Pick and Place with AprilTags | 3_waypoint_pick_and_place_apriltags.xml | 11.0s | 6 errors · 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 (2.47e-07 s). ×2 + 0.10sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 0.11sINFOros2_control_node[2026-11-09 05:59:52.483] [info] Received new action goal ×2 + 0.11sINFOros2_control_node[2026-11-09 05:59:52.483] [info] Accepted new action goal ×2 + 1.00sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×6 + 1.01sINFOros2_control_node[2026-11-09 05:59:53.378] [info] Got request to cancel active goal. ×2 + 1.01sINFOros2_control_node[2026-11-09 05:59:53.378] [info] Canceling active goal... ×2 + 1.03sERRORobjective_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: 1794203993.40469241 seconds ×3 + 1.04sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 1.04sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 1.04sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.04sINFOcontroller_managerSuccessfully switched controllers! ×6 + 1.04sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 1.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 1.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.05sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 1.05sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.233498 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.233498 ms (missed cycles : 2).[0m ×2 + 1.06sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 1.06sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 1.66sINFOobjective_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: ""
+ 1.66sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 1.66sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place with AprilTags" ×2 + 1.66sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 1.66sINFOobjective_server_nodeparameter_overrides: [] ×6 + 1.66sINFOobjective_server_nodecaller: ×6 + 1.66sINFOobjective_server_nodetype: 0 ×6 + 1.66sINFOobjective_server_nodename: "" ×6 + 1.66sINFOobjective_server_nodeinstance_id: "" ×6 + 1.66sINFOobjective_server_node ×6 + 1.76sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place with AprilTags` starting at time: 1794203994.12855339 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.99sINFOobjective_server_nodeFound path in 0 iterations (2.94e-07 s). ×2 + 1.99sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 2.00sINFOros2_control_node[2026-11-09 05:59:54.372] [info] Received new action goal ×2 + 2.00sINFOros2_control_node[2026-11-09 05:59:54.372] [info] Accepted new action goal ×2 + 4.08sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 4.08sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 4.26sINFOobjective_server_nodeFound path in 0 iterations (2.89e-07 s). ×2 + 4.26sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.27sINFOros2_control_node[2026-11-09 05:59:56.642] [info] Received new action goal ×2 + 4.27sINFOros2_control_node[2026-11-09 05:59:56.642] [info] Accepted new action goal ×2 + 7.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.818979 ms (missed cycles : 5). + 7.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.818979 ms (missed cycles : 5).[0m ×2 + 8.22sWARNros2_control_nodeCamera render tick took 1.34 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 8.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.896984 ms (missed cycles : 3). + 8.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.896984 ms (missed cycles : 3).[0m ×2 + 9.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.260254 ms (missed cycles : 3). + 9.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.260254 ms (missed cycles : 3).[0m ×2 + 9.54sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: wrist_camera (1.02 s). The render path has stopped producing new frames for them.[0m ×2 + 10.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.353990 ms (missed cycles : 4). + 10.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.353990 ms (missed cycles : 4).[0m ×2 + 11.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.373078 ms (missed cycles : 3). + 11.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.373078 ms (missed cycles : 3).[0m ×2 + 12.01sERRORobjective_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: 1794204004.37914968 seconds ×3 + 12.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 12.55sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 12.61sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1794204004.97783136 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 12.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.338362 ms (missed cycles : 4). + 12.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.338362 ms (missed cycles : 4).[0m ×2 + 12.74sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1794204005.10798550 seconds ×3 + 13.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 13.29sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 13.36sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1794204005.72909689 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 13.55sINFOobjective_server_nodeFound path in 0 iterations (2.21e-07 s). ×2 + 13.55sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 13.56sINFOros2_control_node[2026-11-09 06:00:05.933] [info] Received new action goal ×2 + 13.56sINFOros2_control_node[2026-11-09 06:00:05.933] [info] Accepted new action goal ×2 + 15.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.133914 ms (missed cycles : 2). + 15.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.133914 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Cycle Between Waypoints | cycle_between_waypoints.xml | 11.0s | 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 + 0.32sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.33sINFOros2_control_node[2026-11-09 06:00:15.393] [info] Received new action goal ×2 + 0.33sINFOros2_control_node[2026-11-09 06:00:15.393] [info] Accepted new action goal ×2 + 1.63sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1794204016.68952608 seconds ×3 + 1.63sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 1.63sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 1.63sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.63sINFOcontroller_managerSuccessfully switched controllers! ×6 + 1.63sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.63sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 1.64sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 1.64sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.64sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 1.64sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 1.64sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 1.64sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 2.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.16sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.16sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.16sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.16sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.16sINFOobjective_server_nodecaller: ×6 + 2.16sINFOobjective_server_nodetype: 0 ×6 + 2.16sINFOobjective_server_nodename: "" ×6 + 2.16sINFOobjective_server_nodeinstance_id: "" ×6 + 2.16sINFOobjective_server_node ×6 + 2.24sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1794204017.30650568 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.33sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1794204017.39664626 seconds ×3 + 2.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.92sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 2.99sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1794204018.05174589 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×15 + 3.09sINFOobjective_server_nodeFound path in 0 iterations (2.76e-07 s). ×2 + 3.10sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.10sINFOros2_control_node[2026-11-09 06:00:18.166] [info] Received new action goal ×2 + 3.10sINFOros2_control_node[2026-11-09 06:00:18.166] [info] Accepted new action goal ×2 + 6.44sINFOobjective_server_nodeFound path in 0 iterations (3.74e-07 s). ×2 + 6.44sINFOobjective_server_nodePath shortcutter: [X________X] ×6 + 6.45sINFOros2_control_node[2026-11-09 06:00:21.515] [info] Received new action goal ×2 + 6.45sINFOros2_control_node[2026-11-09 06:00:21.515] [info] Accepted new action goal ×2 + 8.78sINFOobjective_server_nodeFound path in 0 iterations (4.7e-07 s). ×2 + 8.79sINFOros2_control_node[2026-11-09 06:00:23.853] [info] Received new action goal ×2 + 8.79sINFOros2_control_node[2026-11-09 06:00:23.853] [info] Accepted new action goal ×2 + 11.13sINFOobjective_server_nodeFound path in 0 iterations (2.52e-07 s). ×2 + 11.14sINFOros2_control_node[2026-11-09 06:00:26.203] [info] Received new action goal ×2 + 11.14sINFOros2_control_node[2026-11-09 06:00:26.203] [info] Accepted new action goal ×2 + 13.31sINFOobjective_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 + 13.31sINFOros2_control_node[2026-11-09 06:00:28.372] [info] Got request to cancel active goal. ×2 + 13.31sINFOros2_control_node[2026-11-09 06:00:28.372] [info] Canceling active goal... ×2 + 13.31sERRORobjective_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: 1794204028.37465858 seconds ×3 + 13.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 13.85sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 13.93sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1794204028.99511313 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.11sINFOobjective_server_nodeFound path in 0 iterations (3.55e-07 s). ×2 + 14.12sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 14.13sINFOros2_control_node[2026-11-09 06:00:29.189] [info] Received new action goal ×2 + 14.13sINFOros2_control_node[2026-11-09 06:00:29.189] [info] Accepted new action goal ×2 + 16.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.177319 ms (missed cycles : 2). + 16.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.177319 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Grasp Pose Tuning With April Tag | grasp_pose_tuning_with_april_tag.xml | 10.9s | 9 errors · 17 warnings · 193 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (2.52e-07 s). ×2 + 0.09sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.10sINFOros2_control_node[2026-11-09 06:00:26.203] [info] Received new action goal ×2 + 0.10sINFOros2_control_node[2026-11-09 06:00:26.203] [info] Accepted new action goal ×2 + 2.27sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOros2_control_node[2026-11-09 06:00:28.372] [info] Got request to cancel active goal. ×2 + 2.27sINFOros2_control_node[2026-11-09 06:00:28.372] [info] Canceling active goal... ×2 + 2.27sERRORobjective_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: 1794204028.37465858 seconds ×3 + 2.28sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.28sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.29sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.29sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.29sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.29sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.29sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.29sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.29sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.29sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.81sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.81sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.81sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.81sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.81sINFOobjective_server_nodecaller: ×4 + 2.81sINFOobjective_server_nodetype: 0 ×4 + 2.81sINFOobjective_server_nodename: "" ×4 + 2.81sINFOobjective_server_nodeinstance_id: "" ×4 + 2.81sINFOobjective_server_node ×4 + 2.89sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1794204028.99511313 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.90sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.90sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.07sINFOobjective_server_nodeFound path in 0 iterations (3.55e-07 s). ×2 + 3.07sINFOobjective_server_nodePath shortcutter: [X_______X] ×4 + 3.09sINFOros2_control_node[2026-11-09 06:00:29.189] [info] Received new action goal ×2 + 3.09sINFOros2_control_node[2026-11-09 06:00:29.189] [info] Accepted new action goal ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.177319 ms (missed cycles : 2). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.177319 ms (missed cycles : 2).[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.477116 ms (missed cycles : 5). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.477116 ms (missed cycles : 5).[0m ×2 + 6.51sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 6.51sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 6.52sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 6.72sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: wrist_camera (1.05 s). The render path has stopped producing new frames for them.[0m ×2 + 6.80sINFOobjective_server_nodeFound path in 0 iterations (2.39e-07 s). ×2 + 6.80sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 6.81sINFOobjective_server_nodeFound path in 0 iterations (2.31e-07 s). ×2 + 6.82sINFOobjective_server_nodePath shortcutter: [X_______________X] ×2 + 6.82sINFOobjective_server_nodeFound path in 0 iterations (2.32e-07 s). ×2 + 6.85sINFOobjective_server_nodePath shortcutter: [X_________________________________X] ×2 + 6.87sINFOobjective_server_nodeFound path in 0 iterations (1.7e-07 s). ×2 + 6.93sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 6.95sINFOobjective_server_nodeFound path in 1 iterations (0.0040154 s). ×2 + 7.08sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________X___________________________X] ×2 + 7.10sINFOobjective_server_nodeFound path in 0 iterations (2.04e-07 s). ×2 + 7.18sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X] ×2 + 7.20sINFOobjective_server_nodeFound path in 0 iterations (4.59e-07 s). ×2 + 7.34sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X] ×2 + 7.36sINFOobjective_server_nodeFound path in 0 iterations (2e-07 s). ×2 + 7.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.707910 ms (missed cycles : 2). + 7.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.707910 ms (missed cycles : 2).[0m ×2 + 7.48sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________X] ×2 + 7.62sINFOros2_control_node[2026-11-09 06:00:33.722] [info] Received new action goal ×2 + 7.62sINFOros2_control_node[2026-11-09 06:00:33.722] [info] Accepted new action goal ×2 + 9.88sINFOparameter_manager_nodeRetrieving pose from parameter manager. ×3 + 10.15sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal. + 10.15sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal.[0m ×2 + 10.15sERRORobjective_server_nodeDoTeleoperateAction Error: Failed to send goal request to action server 'do_teleoperate': Goal request was rejected by the action server ×3 + 10.18sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Tuning With April Tag` did not succeed at time: 1794204036.28705001 seconds ×3 + 10.18sINFOobjective_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 + 13.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Using Yaml"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 13.70sINFOobjective_server_nodeobjective_name: "Grasp Pose Using Yaml" ×2 + 13.80sINFOobjective_server_nodeObjective `Grasp Pose Using Yaml` starting at time: 1794204039.90212607 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 13.99sINFOobjective_server_nodeFound path in 0 iterations (2.66e-07 s). ×2 + 14.00sINFOros2_control_node[2026-11-09 06:00:40.106] [info] Received new action goal ×2 + 14.00sINFOros2_control_node[2026-11-09 06:00:40.106] [info] Accepted new action goal ×2 + 14.32sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 16.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.134222 ms (missed cycles : 2). + 16.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.134222 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Stationary Admittance | stationary_admittance.xml | 10.8s | 3 errors · 14 warnings · 388 info |
+ 0.00sINFOobjective_server_nodeObjective `Record Surface Coverage Demo` succeeded at time: 1794204294.91836214 seconds ×3 + 0.01sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×8 + 0.01sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×16 + 0.01sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×16 + 0.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×32 + 0.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.02sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×8 + 0.02sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×16 + 0.02sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×8 + 0.02sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×16 + 0.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.54sINFOobjective_server_nodeReceived /do_objective goal: ×12 + 0.54sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 0.54sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 0.54sINFOobjective_server_nodeparameter_overrides: [] ×12 + 0.55sINFOobjective_server_nodecaller: ×12 + 0.55sINFOobjective_server_nodetype: 0 ×12 + 0.55sINFOobjective_server_nodename: "" ×12 + 0.55sINFOobjective_server_nodeinstance_id: "" ×12 + 0.55sINFOobjective_server_node ×12 + 0.77sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1794204295.68924093 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.79sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 0.79sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 0.81sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 0.82sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 0.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.474764 ms (missed cycles : 3). + 0.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.474764 ms (missed cycles : 3).[0m ×2 + 0.83sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1794204295.74942970 seconds ×3 + 1.37sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.37sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 1.43sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1794204296.34405279 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.45sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 1.45sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1794204296.36551690 seconds ×3 + 2.10sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.10sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 2.17sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1794204297.08863306 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.18sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 2.27sINFOobjective_server_nodeFound path in 0 iterations (2.56e-07 s). ×2 + 2.27sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 2.28sINFOros2_control_node[2026-11-09 06:04:57.202] [info] Received new action goal ×2 + 2.28sINFOros2_control_node[2026-11-09 06:04:57.202] [info] Accepted new action goal ×2 + 5.59sINFOobjective_server_nodeLogMessage Info: Running admittance mode for 10 seconds ×3 + 5.59sINFOros2_control_node[2026-11-09 06:05:00.512] [info] Received new action goal ×2 + 5.59sINFOros2_control_node[2026-11-09 06:05:00.512] [info] Accepted new action goal ×2 + 5.59sINFOros2_control_node[2026-11-09 06:05:00.512] [info] Goal path tolerance override provided: 10, 10, 10, 10, 10, 10, 10 ×2 + 12.35sINFOobjective_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 + 12.36sINFOros2_control_node[2026-11-09 06:05:07.278] [info] Got request to cancel active goal. ×2 + 12.36sINFOros2_control_node[2026-11-09 06:05:07.278] [info] Canceling active goal... ×2 + 12.36sERRORobjective_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: 1794204307.28312254 seconds ×3 + 12.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 12.90sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 12.98sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1794204307.89583302 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 13.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706657 ms (missed cycles : 2). + 13.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706657 ms (missed cycles : 2).[0m ×2 + 14.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.857431 ms (missed cycles : 3). + 14.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.857431 ms (missed cycles : 3).[0m ×2 + 14.21sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1794204309.12598801 seconds ×3 + 14.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.75sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 14.81sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1794204309.72942376 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.81sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 14.81sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×3 + 14.81sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 14.81sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1794204309.73150182 seconds ×3 + 15.09sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 15.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 15.48sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 15.55sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1794204310.46350455 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.58sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1794204310.49432635 seconds ×3 | ||||
| ✓ passed | Pick April Tag Labeled Object With Approval | pick_april_tag_object_with_approval.xml | 10.7s | 17 warnings · 2492 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×382 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×382 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×764 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×764 + 1.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.778730 ms (missed cycles : 2). + 1.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.778730 ms (missed cycles : 2).[0m ×2 + 2.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.711193 ms (missed cycles : 2). + 2.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.711193 ms (missed cycles : 2).[0m ×2 + 3.07sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1794204206.50752926 seconds ×3 + 3.08sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.08sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.08sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.08sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.18sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.18sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.18sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.18sINFOcontroller_managerSuccessfully switched controllers! ×5 + 3.18sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.18sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 3.18sINFOros2_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: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.71sINFOobjective_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: ""
+ 3.71sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.71sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×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 `Pick April Tag Labeled Object With Approval` starting at time: 1794204207.23930359 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.81sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.90sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.90sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.90sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.90sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.90sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.90sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.99sINFOobjective_server_nodeFound path in 0 iterations (3.68e-07 s). ×2 + 3.99sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.00sINFOros2_control_node[2026-11-09 06:03:27.433] [info] Received new action goal ×2 + 4.00sINFOros2_control_node[2026-11-09 06:03:27.433] [info] Accepted new action goal ×2 + 6.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.795459 ms (missed cycles : 5). + 6.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.795459 ms (missed cycles : 5).[0m ×2 + 7.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.546013 ms (missed cycles : 6). + 7.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.546013 ms (missed cycles : 6).[0m ×2 + 7.25sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 7.25sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 7.26sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 7.44sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: wrist_camera (1.08 s). The render path has stopped producing new frames for them.[0m ×2 + 7.54sINFOobjective_server_nodeFound path in 0 iterations (2.88e-07 s). ×2 + 7.54sINFOobjective_server_nodePath shortcutter: [X_________X] ×4 + 7.55sINFOobjective_server_nodeFound path in 0 iterations (2.19e-07 s). ×2 + 7.55sINFOobjective_server_nodePath shortcutter: [X_______________X] ×2 + 7.57sINFOobjective_server_nodeFound path in 0 iterations (2.18e-07 s). ×2 + 7.64sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 7.66sINFOobjective_server_nodeFound path in 1 iterations (0.00313193 s). ×2 + 7.79sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________________X__________________X] ×2 + 7.85sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×3 + 7.85sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 7.86sINFOros2_control_node[2026-11-09 06:03:31.297] [info] Received new action goal ×2 + 7.86sINFOros2_control_node[2026-11-09 06:03:31.297] [info] Accepted new action goal ×2 + 8.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.391143 ms (missed cycles : 6). + 8.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.391143 ms (missed cycles : 6).[0m ×2 + 10.17sINFOros2_control_node[2026-11-09 06:03:33.599] [info] Received new action goal ×2 + 10.17sINFOros2_control_node[2026-11-09 06:03:33.599] [info] Accepted new action goal ×2 + 11.81sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 11.82sINFOros2_control_node[2026-11-09 06:03:35.253] [info] Received new action goal ×2 + 11.82sINFOros2_control_node[2026-11-09 06:03:35.253] [info] Accepted new action goal ×2 + 13.12sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1794204216.54951668 seconds ×3 + 13.88sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 13.88sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 13.89sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 13.89sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 13.89sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 13.89sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 14.41sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.42sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 14.51sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1794204217.94376373 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.68sINFOobjective_server_nodeFound path in 0 iterations (3.05e-07 s). ×2 + 14.68sINFOros2_control_node[2026-11-09 06:03:38.117] [info] Received new action goal ×2 + 14.68sINFOros2_control_node[2026-11-09 06:03:38.117] [info] Accepted new action goal ×2 + 16.59sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 16.99sINFOros2_control_nodeMuJoCo sim: 0.01% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 | ||||
| ✓ passed | Record Square Trajectory | record_square_trajectory.xml | 10.5s | 3 errors · 147 info |
+ 0.00sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.00sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1794204249.77468252 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 + 0.02sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 0.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.02sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 0.02sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 0.02sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 0.02sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 0.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Record Square Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.55sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.55sINFOobjective_server_nodeobjective_name: "Record Square Trajectory" ×2 + 0.55sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.55sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.55sINFOobjective_server_nodecaller: ×4 + 0.55sINFOobjective_server_nodetype: 0 ×4 + 0.55sINFOobjective_server_nodename: "" ×4 + 0.55sINFOobjective_server_nodeinstance_id: "" ×4 + 0.55sINFOobjective_server_node ×4 + 0.61sINFOobjective_server_nodeObjective `Record Square Trajectory` starting at time: 1794204250.38262677 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.64sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.74sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). ×2 + 0.75sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 0.77sINFOros2_control_node[2026-11-09 06:04:10.538] [info] Received new action goal ×2 + 0.77sINFOros2_control_node[2026-11-09 06:04:10.538] [info] Accepted new action goal ×2 + 5.10sINFOros2_control_node[2026-11-09 06:04:14.868] [info] Received new action goal ×2 + 5.10sINFOros2_control_node[2026-11-09 06:04:14.868] [info] Accepted new action goal ×2 + 7.12sINFOros2_control_node[2026-11-09 06:04:16.890] [info] Received new action goal ×2 + 7.12sINFOros2_control_node[2026-11-09 06:04:16.890] [info] Accepted new action goal ×2 + 7.62sINFOros2_control_node[2026-11-09 06:04:17.392] [info] Received new action goal ×2 + 7.62sINFOros2_control_node[2026-11-09 06:04:17.392] [info] Accepted new action goal ×2 + 9.69sINFOros2_control_node[2026-11-09 06:04:19.463] [info] Received new action goal ×2 + 9.69sINFOros2_control_node[2026-11-09 06:04:19.463] [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: 1794204260.26024771 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 + 11.14sINFOobjective_server_nodeObjective `Record Surface Coverage Demo` starting at time: 1794204260.91014171 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 11.14sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 11.14sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 12.15sINFOobjective_server_nodeFound path in 0 iterations (5.42e-07 s). ×2 + 12.16sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 12.16sINFOros2_control_node[2026-11-09 06:04:21.934] [info] Received new action goal ×2 + 12.16sINFOros2_control_node[2026-11-09 06:04:21.934] [info] Accepted new action goal ×2 | ||||
| ✓ passed | Playback Square Trajectory | playback_square_trajectory.xml | 10.5s | 3 errors · 129 info |
+ 0.00sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.00sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan and Save Trajectory` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1794204228.27436638 seconds ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 0.03sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 0.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×4 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.04sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 0.04sINFOros2_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 + 0.63sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1794204228.90223098 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.80sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.89sINFOobjective_server_nodeFound path in 0 iterations (3.89e-07 s). ×2 + 0.90sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 0.91sINFOros2_control_node[2026-11-09 06:03:49.183] [info] Received new action goal ×2 + 0.91sINFOros2_control_node[2026-11-09 06:03:49.183] [info] Accepted new action goal ×2 + 4.92sINFOros2_control_node[2026-11-09 06:03:53.191] [info] Received new action goal ×2 + 4.92sINFOros2_control_node[2026-11-09 06:03:53.191] [info] Accepted new action goal ×2 + 10.51sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1794204238.77662325 seconds ×3 + 11.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Record and Replay Scanning Motion"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 11.05sINFOobjective_server_nodeobjective_name: "Record and Replay Scanning Motion" ×2 + 11.13sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1794204239.40432262 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 11.24sINFOobjective_server_nodeFound path in 0 iterations (2.57e-07 s). ×2 + 11.25sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 11.26sINFOros2_control_node[2026-11-09 06:03:59.529] [info] Received new action goal ×2 + 11.26sINFOros2_control_node[2026-11-09 06:03:59.529] [info] Accepted new action goal ×2 + 13.17sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| ✓ passed | Look at Table | look_at_table.xml | 3.9s | 3 warnings · 218 info |
+ 0.00sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1794204094.98059320 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 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 + 0.59sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1794204095.57405829 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 + 0.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.641343 ms (missed cycles : 7). + 0.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.641343 ms (missed cycles : 7).[0m ×2 + 0.67sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1794204095.65420938 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: ""
+ 1.41sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 1.47sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1794204096.45271182 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.48sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 1.57sINFOobjective_server_nodeFound path in 0 iterations (2.56e-07 s). ×2 + 1.58sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.59sINFOros2_control_node[2026-11-09 06:01:36.566] [info] Received new action goal ×2 + 1.59sINFOros2_control_node[2026-11-09 06:01:36.566] [info] Accepted new action goal ×2 + 3.59sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1794204098.57288051 seconds ×3 + 5.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.14sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 5.21sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1794204100.19539976 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 + 5.30sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 5.31sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 5.44sINFOros2_control_nodeMuJoCo sim: 0.01% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.58sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). ×2 + 5.58sINFOobjective_server_nodePath shortcutter: [X_____________X] ×4 + 5.62sINFOros2_control_node[2026-11-09 06:01:40.603] [info] Received new action goal ×2 + 5.62sINFOros2_control_node[2026-11-09 06:01:40.603] [info] Accepted new action goal ×2 + 8.47sINFOobjective_server_nodeFound path in 0 iterations (4.62e-07 s). ×2 + 8.49sINFOros2_control_node[2026-11-09 06:01:43.470] [info] Received new action goal ×2 + 8.49sINFOros2_control_node[2026-11-09 06:01:43.470] [info] Accepted new action goal ×2 | ||||
| ✓ passed | Take Scene Camera Snapshot | take_snap.xml | 1.8s | 3 errors · 15 warnings · 213 info |
+ 0.00sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOros2_control_node[2026-11-09 06:05:07.278] [info] Got request to cancel active goal. ×2 + 0.01sINFOros2_control_node[2026-11-09 06:05:07.278] [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: 1794204307.28312254 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 + 0.62sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1794204307.89583302 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706657 ms (missed cycles : 2). + 0.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706657 ms (missed cycles : 2).[0m ×2 + 1.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.857431 ms (missed cycles : 3). + 1.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.857431 ms (missed cycles : 3).[0m ×2 + 1.85sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1794204309.12598801 seconds ×3 + 2.40sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.40sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 2.46sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1794204309.72942376 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.46sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 2.46sINFOobjective_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 + 2.46sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 2.46sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1794204309.73150182 seconds ×3 + 2.73sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 3.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.13sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 3.19sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1794204310.46350455 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.22sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1794204310.49432635 seconds ×3 + 3.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.76sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 3.82sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1794204311.08818245 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.192605 ms (missed cycles : 2). + 4.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.192605 ms (missed cycles : 2).[0m ×2 + 5.08sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1794204312.35299706 seconds ×3 + 5.12sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.120039 ms (missed cycles : 2). | ||||
| ✓ passed | Close Gripper | close_gripper.xml | 1.5s | 6 warnings · 413 info |
+ 0.00sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.04sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.04sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.04sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.04sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.04sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.04sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.04sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 0.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.07sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.07sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.65sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.65sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.65sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.65sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.66sINFOobjective_server_nodecaller: ×14 + 0.66sINFOobjective_server_nodetype: 0 ×14 + 0.66sINFOobjective_server_nodename: "" ×14 + 0.66sINFOobjective_server_nodeinstance_id: "" ×14 + 0.66sINFOobjective_server_node ×14 + 0.71sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1794203977.92591429 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.73sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1794203977.93615651 seconds ×3 + 1.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.908582 ms (missed cycles : 2). + 1.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.908582 ms (missed cycles : 2).[0m ×2 + 1.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.26sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.31sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1794203978.52579641 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.32sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.32sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.23sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1794203979.43597269 seconds ×3 + 2.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.79sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.84sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1794203980.05339074 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.90sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1794203980.11356640 seconds ×3 + 3.21sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.51sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.56sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1794203980.77122474 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1794203980.78138709 seconds ×3 + 4.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.11sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.16sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1794203981.37230325 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.31sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1794203981.52283812 seconds ×3 + 4.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.92sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.98sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1794203982.18714046 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.99sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.99sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.00sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.587784 ms (missed cycles : 3). + 5.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.587784 ms (missed cycles : 3).[0m ×2 + 5.03sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1794203982.23731589 seconds ×3 + 5.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.57sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 5.67sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1794203982.87846088 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.68sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 5.68sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.68sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.68sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.68sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.68sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.68sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.68sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.68sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.78sINFOobjective_server_nodeFound path in 0 iterations (2.2142e-05 s). ×2 + 5.78sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 5.80sINFOros2_control_node[2026-11-09 05:59:43.006] [info] Received new action goal ×2 + 5.80sINFOros2_control_node[2026-11-09 05:59:43.006] [info] Accepted new action goal ×2 | ||||
| ✓ passed | Reset MuJoCo Robot | reset_mujoco_robot.xml | 0.8s | 3 warnings · 191 info |
+ 0.00sINFOobjective_server_nodeObjective `Record Surface Coverage Demo` succeeded at time: 1794204294.91836214 seconds ×3 + 0.01sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.01sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.01sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.02sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.02sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.02sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.02sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.54sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 0.54sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 0.54sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 0.54sINFOobjective_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 + 0.77sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1794204295.68924093 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.79sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 0.79sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 0.81sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 0.82sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 0.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.474764 ms (missed cycles : 3). + 0.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.474764 ms (missed cycles : 3).[0m ×2 + 0.83sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1794204295.74942970 seconds ×3 + 1.37sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.37sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 1.43sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1794204296.34405279 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.45sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 1.45sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1794204296.36551690 seconds ×3 + 2.10sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.10sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 2.17sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1794204297.08863306 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.18sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 2.27sINFOobjective_server_nodeFound path in 0 iterations (2.56e-07 s). ×2 + 2.27sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 2.28sINFOros2_control_node[2026-11-09 06:04:57.202] [info] Received new action goal ×2 + 2.28sINFOros2_control_node[2026-11-09 06:04:57.202] [info] Accepted new action goal ×2 | ||||
| ✓ passed | Vector and String Example | vector_and_string_example.xml | 0.7s | 3 errors · 17 warnings · 213 info |
+ 0.00sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOros2_control_node[2026-11-09 06:05:07.278] [info] Got request to cancel active goal. ×2 + 0.01sINFOros2_control_node[2026-11-09 06:05:07.278] [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: 1794204307.28312254 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 + 0.62sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1794204307.89583302 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706657 ms (missed cycles : 2). + 0.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706657 ms (missed cycles : 2).[0m ×2 + 1.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.857431 ms (missed cycles : 3). + 1.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.857431 ms (missed cycles : 3).[0m ×2 + 1.85sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1794204309.12598801 seconds ×3 + 2.40sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.40sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 2.46sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1794204309.72942376 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.46sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 2.46sINFOobjective_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 + 2.46sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 2.46sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1794204309.73150182 seconds ×3 + 2.73sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 3.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.13sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 3.19sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1794204310.46350455 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.22sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1794204310.49432635 seconds ×3 + 3.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.76sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 3.82sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1794204311.08818245 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.192605 ms (missed cycles : 2). + 4.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.192605 ms (missed cycles : 2).[0m ×2 + 5.08sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1794204312.35299706 seconds ×3 + 5.12sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.120039 ms (missed cycles : 2). + 5.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.120039 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Add Table to Planning Scene | add_table_to_planning_scene.xml | 0.7s | 3 errors · 17 warnings · 114 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.260254 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.260254 ms (missed cycles : 3).[0m ×2 + 0.22sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: wrist_camera (1.02 s). The render path has stopped producing new frames for them.[0m ×2 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.353990 ms (missed cycles : 4). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.353990 ms (missed cycles : 4).[0m ×2 + 2.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.373078 ms (missed cycles : 3). + 2.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.373078 ms (missed cycles : 3).[0m ×2 + 2.68sINFOobjective_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 + 2.69sERRORobjective_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: 1794204004.37914968 seconds ×3 + 2.69sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.69sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.69sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.69sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.69sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.69sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.70sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.70sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.70sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.70sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.70sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.70sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.22sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.22sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 3.22sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.22sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.22sINFOobjective_server_nodecaller: ×4 + 3.22sINFOobjective_server_nodetype: 0 ×4 + 3.22sINFOobjective_server_nodename: "" ×4 + 3.22sINFOobjective_server_nodeinstance_id: "" ×4 + 3.23sINFOobjective_server_node ×4 + 3.29sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1794204004.97783136 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.338362 ms (missed cycles : 4). + 3.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.338362 ms (missed cycles : 4).[0m ×2 + 3.42sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1794204005.10798550 seconds ×3 + 3.97sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.97sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 4.04sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1794204005.72909689 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.04sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.04sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.13sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.22sINFOobjective_server_nodeFound path in 0 iterations (2.21e-07 s). ×2 + 4.23sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.24sINFOros2_control_node[2026-11-09 06:00:05.933] [info] Received new action goal ×2 + 4.24sINFOros2_control_node[2026-11-09 06:00:05.933] [info] Accepted new action goal ×2 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.133914 ms (missed cycles : 2). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.133914 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Clear Previous Obstacles | clear_previous_obstacles.xml | 0.7s | 125 info |
+ 0.00sINFOros2_control_node[2026-11-09 06:00:13.761] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-11-09 06:00:13.761] [info] Accepted new action goal ×2 + 1.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.62sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.63sINFOros2_control_node[2026-11-09 06:00:15.393] [info] Received new action goal ×2 + 1.63sINFOros2_control_node[2026-11-09 06:00:15.393] [info] Accepted new action goal ×2 + 2.93sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1794204016.68952608 seconds ×3 + 2.93sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.93sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.93sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.93sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.93sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.93sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.94sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.94sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.94sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.94sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.94sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.94sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.46sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.46sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.46sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 3.47sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.47sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.47sINFOobjective_server_nodecaller: ×4 + 3.47sINFOobjective_server_nodetype: 0 ×4 + 3.47sINFOobjective_server_nodename: "" ×4 + 3.47sINFOobjective_server_nodeinstance_id: "" ×4 + 3.47sINFOobjective_server_node ×4 + 3.54sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1794204017.30650568 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1794204017.39664626 seconds ×3 + 4.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.22sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 4.29sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1794204018.05174589 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.30sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.39sINFOobjective_server_nodeFound path in 0 iterations (2.76e-07 s). ×2 + 4.40sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 4.40sINFOros2_control_node[2026-11-09 06:00:18.166] [info] Received new action goal ×2 + 4.41sINFOros2_control_node[2026-11-09 06:00:18.166] [info] Accepted new action goal ×2 | ||||
| ✓ passed | Open Gripper | open_gripper.xml | 0.7s | 6 warnings · 413 info |
+ 0.00sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.04sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.04sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.04sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.04sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.04sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.04sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.04sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 0.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.07sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.07sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.65sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.65sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.65sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.65sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.66sINFOobjective_server_nodecaller: ×14 + 0.66sINFOobjective_server_nodetype: 0 ×14 + 0.66sINFOobjective_server_nodename: "" ×14 + 0.66sINFOobjective_server_nodeinstance_id: "" ×14 + 0.66sINFOobjective_server_node ×14 + 0.71sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1794203977.92591429 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.73sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1794203977.93615651 seconds ×3 + 1.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.908582 ms (missed cycles : 2). + 1.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.908582 ms (missed cycles : 2).[0m ×2 + 1.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.26sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.31sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1794203978.52579641 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.32sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.32sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.23sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1794203979.43597269 seconds ×3 + 2.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.79sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.84sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1794203980.05339074 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.90sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1794203980.11356640 seconds ×3 + 3.21sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.51sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.56sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1794203980.77122474 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1794203980.78138709 seconds ×3 + 4.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.11sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.16sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1794203981.37230325 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.31sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1794203981.52283812 seconds ×3 + 4.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.92sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.98sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1794203982.18714046 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.99sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.99sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.00sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.587784 ms (missed cycles : 3). + 5.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.587784 ms (missed cycles : 3).[0m ×2 + 5.03sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1794203982.23731589 seconds ×3 + 5.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.57sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 5.67sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1794203982.87846088 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.68sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 5.68sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.68sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.68sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.68sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.68sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.68sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.68sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.68sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.78sINFOobjective_server_nodeFound path in 0 iterations (2.2142e-05 s). ×2 + 5.78sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 5.80sINFOros2_control_node[2026-11-09 05:59:43.006] [info] Received new action goal ×2 + 5.80sINFOros2_control_node[2026-11-09 05:59:43.006] [info] Accepted new action goal ×2 | ||||
| ✓ passed | Load MuJoCo Robot State | load_mujoco_robot_state.xml | 0.7s | 3 warnings · 147 info |
+ 0.00sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1794204094.98059320 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 ×5 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×7 + 0.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×10 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×14 + 0.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.02sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 0.02sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 0.02sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 0.02sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 0.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load MuJoCo Robot State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.54sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.54sINFOobjective_server_nodeobjective_name: "Load MuJoCo Robot State" ×2 + 0.54sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.54sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.54sINFOobjective_server_nodecaller: ×4 + 0.54sINFOobjective_server_nodetype: 0 ×4 + 0.54sINFOobjective_server_nodename: "" ×4 + 0.54sINFOobjective_server_nodeinstance_id: "" ×4 + 0.54sINFOobjective_server_node ×4 + 0.59sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1794204095.57405829 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 + 0.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.641343 ms (missed cycles : 7). + 0.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.641343 ms (missed cycles : 7).[0m ×2 + 0.67sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1794204095.65420938 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: ""
+ 1.41sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 1.47sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1794204096.45271182 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 (2.56e-07 s). ×2 + 1.58sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.59sINFOros2_control_node[2026-11-09 06:01:36.566] [info] Received new action goal ×2 + 1.59sINFOros2_control_node[2026-11-09 06:01:36.566] [info] Accepted new action goal ×2 + 3.59sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1794204098.57288051 seconds ×3 | ||||
| ✓ passed | Visualize Grasp Link | visualize_grasp_link.xml | 0.6s | 3 errors · 17 warnings · 213 info |
+ 0.00sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOros2_control_node[2026-11-09 06:05:07.278] [info] Got request to cancel active goal. ×2 + 0.01sINFOros2_control_node[2026-11-09 06:05:07.278] [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: 1794204307.28312254 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 + 0.62sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1794204307.89583302 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706657 ms (missed cycles : 2). + 0.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706657 ms (missed cycles : 2).[0m ×2 + 1.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.857431 ms (missed cycles : 3). + 1.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.857431 ms (missed cycles : 3).[0m ×2 + 1.85sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1794204309.12598801 seconds ×3 + 2.40sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.40sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 2.46sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1794204309.72942376 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.46sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 2.46sINFOobjective_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 + 2.46sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 2.46sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1794204309.73150182 seconds ×3 + 2.73sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 3.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.13sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 3.19sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1794204310.46350455 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.22sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1794204310.49432635 seconds ×3 + 3.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.76sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 3.82sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1794204311.08818245 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.192605 ms (missed cycles : 2). + 4.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.192605 ms (missed cycles : 2).[0m ×2 + 5.08sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1794204312.35299706 seconds ×3 + 5.12sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.120039 ms (missed cycles : 2). + 5.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.120039 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Save Robot Joint State | save_robot_joint_state.xml | 0.6s | 3 warnings · 191 info |
+ 0.00sINFOobjective_server_nodeObjective `Record Surface Coverage Demo` succeeded at time: 1794204294.91836214 seconds ×3 + 0.01sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.01sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.01sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.02sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.02sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.02sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.02sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.54sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 0.54sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 0.54sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 0.54sINFOobjective_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 + 0.77sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1794204295.68924093 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.79sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 0.79sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 0.81sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 0.82sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 0.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.474764 ms (missed cycles : 3). + 0.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.474764 ms (missed cycles : 3).[0m ×2 + 0.83sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1794204295.74942970 seconds ×3 + 1.37sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.37sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 1.43sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1794204296.34405279 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.45sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 1.45sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1794204296.36551690 seconds ×3 + 2.10sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.10sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 2.17sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1794204297.08863306 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.18sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 2.27sINFOobjective_server_nodeFound path in 0 iterations (2.56e-07 s). ×2 + 2.27sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 2.28sINFOros2_control_node[2026-11-09 06:04:57.202] [info] Received new action goal ×2 + 2.28sINFOros2_control_node[2026-11-09 06:04:57.202] [info] Accepted new action goal ×2 | ||||
| − skipped | Pick object | pick_object.xml | 0.0s | 76 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[2026-11-09 06:03:35.253] [info] Received new action goal ×2 + 0.35sINFOros2_control_node[2026-11-09 06:03:35.253] [info] Accepted new action goal ×2 + 1.65sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1794204216.54951668 seconds ×3 + 2.41sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.41sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.41sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.41sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.41sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.41sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.42sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.42sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.42sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.42sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.42sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.42sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.95sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.95sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 2.95sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.95sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.95sINFOobjective_server_nodecaller: ×2 + 2.95sINFOobjective_server_nodetype: 0 ×2 + 2.95sINFOobjective_server_nodename: "" ×2 + 2.95sINFOobjective_server_nodeinstance_id: "" ×2 + 2.95sINFOobjective_server_node ×2 + 3.04sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1794204217.94376373 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.21sINFOobjective_server_nodeFound path in 0 iterations (3.05e-07 s). ×2 + 3.21sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.22sINFOros2_control_node[2026-11-09 06:03:38.117] [info] Received new action goal ×2 + 3.22sINFOros2_control_node[2026-11-09 06:03:38.117] [info] Accepted new action goal ×2 + 5.12sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 5.52sINFOros2_control_nodeMuJoCo sim: 0.01% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 | ||||
| − skipped | Add Point Cloud to Vector | add_point_cloud_to_vector.xml | 0.0s | 3 errors · 17 warnings · 114 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.260254 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.260254 ms (missed cycles : 3).[0m ×2 + 0.22sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: wrist_camera (1.02 s). The render path has stopped producing new frames for them.[0m ×2 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.353990 ms (missed cycles : 4). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.353990 ms (missed cycles : 4).[0m ×2 + 2.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.373078 ms (missed cycles : 3). + 2.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.373078 ms (missed cycles : 3).[0m ×2 + 2.68sINFOobjective_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 + 2.69sERRORobjective_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: 1794204004.37914968 seconds ×3 + 2.69sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.69sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.69sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.69sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.69sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.69sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.70sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.70sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.70sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.70sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.70sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.70sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.22sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.22sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 3.22sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.22sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.22sINFOobjective_server_nodecaller: ×4 + 3.22sINFOobjective_server_nodetype: 0 ×4 + 3.22sINFOobjective_server_nodename: "" ×4 + 3.22sINFOobjective_server_nodeinstance_id: "" ×4 + 3.23sINFOobjective_server_node ×4 + 3.29sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1794204004.97783136 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.338362 ms (missed cycles : 4). + 3.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.338362 ms (missed cycles : 4).[0m ×2 + 3.42sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1794204005.10798550 seconds ×3 + 3.97sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.97sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 4.04sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1794204005.72909689 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.04sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.04sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.13sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.22sINFOobjective_server_nodeFound path in 0 iterations (2.21e-07 s). ×2 + 4.23sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.24sINFOros2_control_node[2026-11-09 06:00:05.933] [info] Received new action goal ×2 + 4.24sINFOros2_control_node[2026-11-09 06:00:05.933] [info] Accepted new action goal ×2 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.133914 ms (missed cycles : 2). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.133914 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Add Poses to MTC Task | add_poses_to_mtc_task.xml | 0.0s | 3 errors · 17 warnings · 114 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.260254 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.260254 ms (missed cycles : 3).[0m ×2 + 0.22sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: wrist_camera (1.02 s). The render path has stopped producing new frames for them.[0m ×2 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.353990 ms (missed cycles : 4). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.353990 ms (missed cycles : 4).[0m ×2 + 2.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.373078 ms (missed cycles : 3). + 2.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.373078 ms (missed cycles : 3).[0m ×2 + 2.68sINFOobjective_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 + 2.69sERRORobjective_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: 1794204004.37914968 seconds ×3 + 2.69sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.69sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.69sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.69sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.69sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.69sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.70sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.70sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.70sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.70sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.70sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.70sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.22sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.22sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 3.22sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.22sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.22sINFOobjective_server_nodecaller: ×4 + 3.22sINFOobjective_server_nodetype: 0 ×4 + 3.22sINFOobjective_server_nodename: "" ×4 + 3.22sINFOobjective_server_nodeinstance_id: "" ×4 + 3.23sINFOobjective_server_node ×4 + 3.29sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1794204004.97783136 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.338362 ms (missed cycles : 4). + 3.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.338362 ms (missed cycles : 4).[0m ×2 + 3.42sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1794204005.10798550 seconds ×3 + 3.97sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.97sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 4.04sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1794204005.72909689 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.04sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.04sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.13sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.22sINFOobjective_server_nodeFound path in 0 iterations (2.21e-07 s). ×2 + 4.23sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.24sINFOros2_control_node[2026-11-09 06:00:05.933] [info] Received new action goal ×2 + 4.24sINFOros2_control_node[2026-11-09 06:00:05.933] [info] Accepted new action goal ×2 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.133914 ms (missed cycles : 2). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.133914 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Add Waypoints to MTC Task | add_waypoints_to_mtc_task.xml | 0.0s | 3 errors · 12 warnings · 114 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.353990 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.353990 ms (missed cycles : 4).[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.373078 ms (missed cycles : 3). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.373078 ms (missed cycles : 3).[0m ×2 + 1.47sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.47sERRORobjective_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: 1794204004.37914968 seconds ×3 + 1.48sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.48sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.48sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.48sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.48sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.48sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.49sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.49sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.49sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.49sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.49sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.01sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.01sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.01sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.01sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.01sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.01sINFOobjective_server_nodecaller: ×4 + 2.01sINFOobjective_server_nodetype: 0 ×4 + 2.01sINFOobjective_server_nodename: "" ×4 + 2.01sINFOobjective_server_nodeinstance_id: "" ×4 + 2.01sINFOobjective_server_node ×4 + 2.07sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1794204004.97783136 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.338362 ms (missed cycles : 4). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.338362 ms (missed cycles : 4).[0m ×2 + 2.20sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1794204005.10798550 seconds ×3 + 2.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.76sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 2.82sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1794204005.72909689 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.83sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.92sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.01sINFOobjective_server_nodeFound path in 0 iterations (2.21e-07 s). ×2 + 3.01sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.03sINFOros2_control_node[2026-11-09 06:00:05.933] [info] Received new action goal ×2 + 3.03sINFOros2_control_node[2026-11-09 06:00:05.933] [info] Accepted new action goal ×2 + 5.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.133914 ms (missed cycles : 2). + 5.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.133914 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | AddBottlesToPlanningScene | addbottlestoplanningscene.xml | 0.0s | 3 errors · 12 warnings · 114 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.353990 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.353990 ms (missed cycles : 4).[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.373078 ms (missed cycles : 3). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.373078 ms (missed cycles : 3).[0m ×2 + 1.47sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.47sERRORobjective_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: 1794204004.37914968 seconds ×3 + 1.48sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.48sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.48sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.48sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.48sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.48sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.49sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.49sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.49sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.49sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.49sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.01sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.01sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.01sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.01sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.01sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.01sINFOobjective_server_nodecaller: ×4 + 2.01sINFOobjective_server_nodetype: 0 ×4 + 2.01sINFOobjective_server_nodename: "" ×4 + 2.01sINFOobjective_server_nodeinstance_id: "" ×4 + 2.01sINFOobjective_server_node ×4 + 2.07sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1794204004.97783136 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.338362 ms (missed cycles : 4). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.338362 ms (missed cycles : 4).[0m ×2 + 2.20sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1794204005.10798550 seconds ×3 + 2.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.76sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 2.82sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1794204005.72909689 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.83sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.92sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.01sINFOobjective_server_nodeFound path in 0 iterations (2.21e-07 s). ×2 + 3.01sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.03sINFOros2_control_node[2026-11-09 06:00:05.933] [info] Received new action goal ×2 + 3.03sINFOros2_control_node[2026-11-09 06:00:05.933] [info] Accepted new action goal ×2 + 5.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.133914 ms (missed cycles : 2). + 5.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.133914 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | AddCollisionBoxInFrontOfEndEffector | addcollisionboxinfrontofendeffector.xml | 0.0s | 3 errors · 12 warnings · 114 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.353990 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.353990 ms (missed cycles : 4).[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.373078 ms (missed cycles : 3). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.373078 ms (missed cycles : 3).[0m ×2 + 1.47sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.47sERRORobjective_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: 1794204004.37914968 seconds ×3 + 1.48sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.48sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.48sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.48sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.48sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.48sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.49sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.49sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.49sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.49sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.49sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.01sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.01sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.01sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.01sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.01sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.01sINFOobjective_server_nodecaller: ×4 + 2.01sINFOobjective_server_nodetype: 0 ×4 + 2.01sINFOobjective_server_nodename: "" ×4 + 2.01sINFOobjective_server_nodeinstance_id: "" ×4 + 2.01sINFOobjective_server_node ×4 + 2.07sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1794204004.97783136 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.338362 ms (missed cycles : 4). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.338362 ms (missed cycles : 4).[0m ×2 + 2.20sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1794204005.10798550 seconds ×3 + 2.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.76sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 2.82sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1794204005.72909689 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.83sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.92sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.01sINFOobjective_server_nodeFound path in 0 iterations (2.21e-07 s). ×2 + 3.01sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.03sINFOros2_control_node[2026-11-09 06:00:05.933] [info] Received new action goal ×2 + 3.03sINFOros2_control_node[2026-11-09 06:00:05.933] [info] Accepted new action goal ×2 + 5.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.133914 ms (missed cycles : 2). + 5.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.133914 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | AddCollisionObjectToPlanningScene | addcollisionobjecttoplanningscene.xml | 0.0s | 3 errors · 12 warnings · 114 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.353990 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.353990 ms (missed cycles : 4).[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.373078 ms (missed cycles : 3). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.373078 ms (missed cycles : 3).[0m ×2 + 1.47sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.47sERRORobjective_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: 1794204004.37914968 seconds ×3 + 1.48sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.48sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.48sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.48sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.48sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.48sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.49sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.49sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.49sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.49sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.49sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.01sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.01sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.01sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.01sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.01sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.01sINFOobjective_server_nodecaller: ×4 + 2.01sINFOobjective_server_nodetype: 0 ×4 + 2.01sINFOobjective_server_nodename: "" ×4 + 2.01sINFOobjective_server_nodeinstance_id: "" ×4 + 2.01sINFOobjective_server_node ×4 + 2.07sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1794204004.97783136 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.338362 ms (missed cycles : 4). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.338362 ms (missed cycles : 4).[0m ×2 + 2.20sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1794204005.10798550 seconds ×3 + 2.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.76sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 2.82sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1794204005.72909689 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.83sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.92sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.01sINFOobjective_server_nodeFound path in 0 iterations (2.21e-07 s). ×2 + 3.01sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.03sINFOros2_control_node[2026-11-09 06:00:05.933] [info] Received new action goal ×2 + 3.03sINFOros2_control_node[2026-11-09 06:00:05.933] [info] Accepted new action goal ×2 + 5.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.133914 ms (missed cycles : 2). + 5.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.133914 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Collect Training Data with Behaviors | collect_training_data_with_behaviors.xml | 0.0s | 121 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.32sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.33sINFOros2_control_node[2026-11-09 06:00:15.393] [info] Received new action goal ×2 + 0.33sINFOros2_control_node[2026-11-09 06:00:15.393] [info] Accepted new action goal ×2 + 1.63sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1794204016.68952608 seconds ×3 + 1.63sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.63sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.63sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.63sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.63sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.63sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.64sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.64sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.64sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.64sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.64sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.64sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.16sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.16sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.16sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.16sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.16sINFOobjective_server_nodecaller: ×4 + 2.16sINFOobjective_server_nodetype: 0 ×4 + 2.16sINFOobjective_server_nodename: "" ×4 + 2.16sINFOobjective_server_nodeinstance_id: "" ×4 + 2.16sINFOobjective_server_node ×4 + 2.24sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1794204017.30650568 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.33sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1794204017.39664626 seconds ×3 + 2.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.92sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 2.99sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1794204018.05174589 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.09sINFOobjective_server_nodeFound path in 0 iterations (2.76e-07 s). ×2 + 3.10sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.10sINFOros2_control_node[2026-11-09 06:00:18.166] [info] Received new action goal ×2 + 3.10sINFOros2_control_node[2026-11-09 06:00:18.166] [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 + 0.32sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.33sINFOros2_control_node[2026-11-09 06:00:15.393] [info] Received new action goal ×2 + 0.33sINFOros2_control_node[2026-11-09 06:00:15.393] [info] Accepted new action goal ×2 + 1.63sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1794204016.68952608 seconds ×3 + 1.63sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.63sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.63sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.63sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.63sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.63sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.64sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.64sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.64sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.64sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.64sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.64sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.16sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.16sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.16sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.16sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.16sINFOobjective_server_nodecaller: ×4 + 2.16sINFOobjective_server_nodetype: 0 ×4 + 2.16sINFOobjective_server_nodename: "" ×4 + 2.16sINFOobjective_server_nodeinstance_id: "" ×4 + 2.16sINFOobjective_server_node ×4 + 2.24sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1794204017.30650568 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.33sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1794204017.39664626 seconds ×3 + 2.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.92sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 2.99sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1794204018.05174589 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.09sINFOobjective_server_nodeFound path in 0 iterations (2.76e-07 s). ×2 + 3.10sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.10sINFOros2_control_node[2026-11-09 06:00:18.166] [info] Received new action goal ×2 + 3.10sINFOros2_control_node[2026-11-09 06:00:18.166] [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 + 0.32sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.33sINFOros2_control_node[2026-11-09 06:00:15.393] [info] Received new action goal ×2 + 0.33sINFOros2_control_node[2026-11-09 06:00:15.393] [info] Accepted new action goal ×2 + 1.63sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1794204016.68952608 seconds ×3 + 1.63sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.63sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.63sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.63sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.63sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.63sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.64sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.64sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.64sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.64sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.64sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.64sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.16sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.16sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.16sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.16sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.16sINFOobjective_server_nodecaller: ×4 + 2.16sINFOobjective_server_nodetype: 0 ×4 + 2.16sINFOobjective_server_nodename: "" ×4 + 2.16sINFOobjective_server_nodeinstance_id: "" ×4 + 2.16sINFOobjective_server_node ×4 + 2.24sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1794204017.30650568 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.33sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1794204017.39664626 seconds ×3 + 2.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.92sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 2.99sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1794204018.05174589 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.09sINFOobjective_server_nodeFound path in 0 iterations (2.76e-07 s). ×2 + 3.10sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.10sINFOros2_control_node[2026-11-09 06:00:18.166] [info] Received new action goal ×2 + 3.10sINFOros2_control_node[2026-11-09 06:00:18.166] [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 + 0.32sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.33sINFOros2_control_node[2026-11-09 06:00:15.393] [info] Received new action goal ×2 + 0.33sINFOros2_control_node[2026-11-09 06:00:15.393] [info] Accepted new action goal ×2 + 1.63sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1794204016.68952608 seconds ×3 + 1.63sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.63sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.63sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.63sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.63sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.63sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.64sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.64sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.64sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.64sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.64sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.64sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.16sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.16sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.16sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.16sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.16sINFOobjective_server_nodecaller: ×4 + 2.16sINFOobjective_server_nodetype: 0 ×4 + 2.16sINFOobjective_server_nodename: "" ×4 + 2.16sINFOobjective_server_nodeinstance_id: "" ×4 + 2.16sINFOobjective_server_node ×4 + 2.24sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1794204017.30650568 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.33sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1794204017.39664626 seconds ×3 + 2.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.92sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 2.99sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1794204018.05174589 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.09sINFOobjective_server_nodeFound path in 0 iterations (2.76e-07 s). ×2 + 3.10sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.10sINFOros2_control_node[2026-11-09 06:00:18.166] [info] Received new action goal ×2 + 3.10sINFOros2_control_node[2026-11-09 06:00:18.166] [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 + 0.32sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.33sINFOros2_control_node[2026-11-09 06:00:15.393] [info] Received new action goal ×2 + 0.33sINFOros2_control_node[2026-11-09 06:00:15.393] [info] Accepted new action goal ×2 + 1.63sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1794204016.68952608 seconds ×3 + 1.63sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.63sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.63sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.63sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.63sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.63sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.64sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.64sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.64sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.64sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.64sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.64sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.16sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.16sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.16sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.16sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.16sINFOobjective_server_nodecaller: ×4 + 2.16sINFOobjective_server_nodetype: 0 ×4 + 2.16sINFOobjective_server_nodename: "" ×4 + 2.16sINFOobjective_server_nodeinstance_id: "" ×4 + 2.16sINFOobjective_server_node ×4 + 2.24sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1794204017.30650568 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.33sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1794204017.39664626 seconds ×3 + 2.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.92sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 2.99sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1794204018.05174589 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.09sINFOobjective_server_nodeFound path in 0 iterations (2.76e-07 s). ×2 + 3.10sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.10sINFOros2_control_node[2026-11-09 06:00:18.166] [info] Received new action goal ×2 + 3.10sINFOros2_control_node[2026-11-09 06:00:18.166] [info] Accepted new action goal ×2 | ||||
| − skipped | Detect AprilTags on Table | detect_apriltags_on_table.xml | 0.0s | 3 errors · 3 warnings · 79 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (2.52e-07 s). ×2 + 0.09sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.10sINFOros2_control_node[2026-11-09 06:00:26.203] [info] Received new action goal ×2 + 0.10sINFOros2_control_node[2026-11-09 06:00:26.203] [info] Accepted new action goal ×2 + 2.27sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOros2_control_node[2026-11-09 06:00:28.372] [info] Got request to cancel active goal. ×2 + 2.27sINFOros2_control_node[2026-11-09 06:00:28.372] [info] Canceling active goal... ×2 + 2.27sERRORobjective_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: 1794204028.37465858 seconds ×3 + 2.28sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.28sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.29sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.29sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.29sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.29sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.29sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.29sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.29sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.29sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.81sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.81sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.81sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.81sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.81sINFOobjective_server_nodecaller: ×2 + 2.81sINFOobjective_server_nodetype: 0 ×2 + 2.81sINFOobjective_server_nodename: "" ×2 + 2.81sINFOobjective_server_nodeinstance_id: "" ×2 + 2.81sINFOobjective_server_node ×2 + 2.89sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1794204028.99511313 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.90sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.90sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.07sINFOobjective_server_nodeFound path in 0 iterations (3.55e-07 s). ×2 + 3.07sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.09sINFOros2_control_node[2026-11-09 06:00:29.189] [info] Received new action goal ×2 + 3.09sINFOros2_control_node[2026-11-09 06:00:29.189] [info] Accepted new action goal ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.177319 ms (missed cycles : 2). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.177319 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | ErrorCheckVectorSize | errorcheckvectorsize.xml | 0.0s | 3 errors · 3 warnings · 79 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (2.52e-07 s). ×2 + 0.09sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.10sINFOros2_control_node[2026-11-09 06:00:26.203] [info] Received new action goal ×2 + 0.10sINFOros2_control_node[2026-11-09 06:00:26.203] [info] Accepted new action goal ×2 + 2.27sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOros2_control_node[2026-11-09 06:00:28.372] [info] Got request to cancel active goal. ×2 + 2.27sINFOros2_control_node[2026-11-09 06:00:28.372] [info] Canceling active goal... ×2 + 2.27sERRORobjective_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: 1794204028.37465858 seconds ×3 + 2.28sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.28sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.29sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.29sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.29sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.29sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.29sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.29sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.29sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.29sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.81sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.81sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.81sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.81sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.81sINFOobjective_server_nodecaller: ×2 + 2.81sINFOobjective_server_nodetype: 0 ×2 + 2.81sINFOobjective_server_nodename: "" ×2 + 2.81sINFOobjective_server_nodeinstance_id: "" ×2 + 2.81sINFOobjective_server_node ×2 + 2.89sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1794204028.99511313 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.90sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.90sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.07sINFOobjective_server_nodeFound path in 0 iterations (3.55e-07 s). ×2 + 3.07sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.09sINFOros2_control_node[2026-11-09 06:00:29.189] [info] Received new action goal ×2 + 3.09sINFOros2_control_node[2026-11-09 06:00:29.189] [info] Accepted new action goal ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.177319 ms (missed cycles : 2). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.177319 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Fan Pose About Tool-Z Subtree | fan_pose_about_tool_z_subtree.xml | 0.0s | 3 errors · 3 warnings · 79 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (2.52e-07 s). ×2 + 0.09sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.10sINFOros2_control_node[2026-11-09 06:00:26.203] [info] Received new action goal ×2 + 0.10sINFOros2_control_node[2026-11-09 06:00:26.203] [info] Accepted new action goal ×2 + 2.27sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOros2_control_node[2026-11-09 06:00:28.372] [info] Got request to cancel active goal. ×2 + 2.27sINFOros2_control_node[2026-11-09 06:00:28.372] [info] Canceling active goal... ×2 + 2.27sERRORobjective_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: 1794204028.37465858 seconds ×3 + 2.28sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.28sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.29sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.29sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.29sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.29sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.29sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.29sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.29sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.29sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.81sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.81sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.81sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.81sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.81sINFOobjective_server_nodecaller: ×2 + 2.81sINFOobjective_server_nodetype: 0 ×2 + 2.81sINFOobjective_server_nodename: "" ×2 + 2.81sINFOobjective_server_nodeinstance_id: "" ×2 + 2.81sINFOobjective_server_node ×2 + 2.89sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1794204028.99511313 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.90sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.90sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.07sINFOobjective_server_nodeFound path in 0 iterations (3.55e-07 s). ×2 + 3.07sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.09sINFOros2_control_node[2026-11-09 06:00:29.189] [info] Received new action goal ×2 + 3.09sINFOros2_control_node[2026-11-09 06:00:29.189] [info] Accepted new action goal ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.177319 ms (missed cycles : 2). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.177319 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Fit Bottle Model Subtree | fit_bottle_model_subtree.xml | 0.0s | 3 errors · 3 warnings · 79 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (2.52e-07 s). ×2 + 0.09sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.10sINFOros2_control_node[2026-11-09 06:00:26.203] [info] Received new action goal ×2 + 0.10sINFOros2_control_node[2026-11-09 06:00:26.203] [info] Accepted new action goal ×2 + 2.27sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOros2_control_node[2026-11-09 06:00:28.372] [info] Got request to cancel active goal. ×2 + 2.27sINFOros2_control_node[2026-11-09 06:00:28.372] [info] Canceling active goal... ×2 + 2.27sERRORobjective_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: 1794204028.37465858 seconds ×3 + 2.28sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.28sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.29sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.29sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.29sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.29sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.29sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.29sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.29sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.29sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.81sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.81sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.81sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.81sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.81sINFOobjective_server_nodecaller: ×2 + 2.81sINFOobjective_server_nodetype: 0 ×2 + 2.81sINFOobjective_server_nodename: "" ×2 + 2.81sINFOobjective_server_nodeinstance_id: "" ×2 + 2.81sINFOobjective_server_node ×2 + 2.89sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1794204028.99511313 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.90sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.90sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.07sINFOobjective_server_nodeFound path in 0 iterations (3.55e-07 s). ×2 + 3.07sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.09sINFOros2_control_node[2026-11-09 06:00:29.189] [info] Received new action goal ×2 + 3.09sINFOros2_control_node[2026-11-09 06:00:29.189] [info] Accepted new action goal ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.177319 ms (missed cycles : 2). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.177319 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Force Relaxation | force_relaxation.xml | 0.0s | 3 errors · 3 warnings · 79 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (2.52e-07 s). ×2 + 0.09sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.10sINFOros2_control_node[2026-11-09 06:00:26.203] [info] Received new action goal ×2 + 0.10sINFOros2_control_node[2026-11-09 06:00:26.203] [info] Accepted new action goal ×2 + 2.27sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOros2_control_node[2026-11-09 06:00:28.372] [info] Got request to cancel active goal. ×2 + 2.27sINFOros2_control_node[2026-11-09 06:00:28.372] [info] Canceling active goal... ×2 + 2.27sERRORobjective_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: 1794204028.37465858 seconds ×3 + 2.28sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.28sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.29sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.29sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.29sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.29sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.29sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.29sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.29sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.29sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.81sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.81sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.81sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.81sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.81sINFOobjective_server_nodecaller: ×2 + 2.81sINFOobjective_server_nodetype: 0 ×2 + 2.81sINFOobjective_server_nodename: "" ×2 + 2.81sINFOobjective_server_nodeinstance_id: "" ×2 + 2.81sINFOobjective_server_node ×2 + 2.89sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1794204028.99511313 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.90sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.90sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.07sINFOobjective_server_nodeFound path in 0 iterations (3.55e-07 s). ×2 + 3.07sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.09sINFOros2_control_node[2026-11-09 06:00:29.189] [info] Received new action goal ×2 + 3.09sINFOros2_control_node[2026-11-09 06:00:29.189] [info] Accepted new action goal ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.177319 ms (missed cycles : 2). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.177319 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Fuse Multiple Views Subtree | fuse_multiple_views_subtree.xml | 0.0s | 3 errors · 3 warnings · 79 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (2.52e-07 s). ×2 + 0.09sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.10sINFOros2_control_node[2026-11-09 06:00:26.203] [info] Received new action goal ×2 + 0.10sINFOros2_control_node[2026-11-09 06:00:26.203] [info] Accepted new action goal ×2 + 2.27sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOros2_control_node[2026-11-09 06:00:28.372] [info] Got request to cancel active goal. ×2 + 2.27sINFOros2_control_node[2026-11-09 06:00:28.372] [info] Canceling active goal... ×2 + 2.27sERRORobjective_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: 1794204028.37465858 seconds ×3 + 2.28sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.28sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.29sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.29sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.29sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.29sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.29sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.29sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.29sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.29sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.81sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.81sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.81sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.81sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.81sINFOobjective_server_nodecaller: ×2 + 2.81sINFOobjective_server_nodetype: 0 ×2 + 2.81sINFOobjective_server_nodename: "" ×2 + 2.81sINFOobjective_server_nodeinstance_id: "" ×2 + 2.81sINFOobjective_server_node ×2 + 2.89sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1794204028.99511313 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.90sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.90sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.07sINFOobjective_server_nodeFound path in 0 iterations (3.55e-07 s). ×2 + 3.07sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.09sINFOros2_control_node[2026-11-09 06:00:29.189] [info] Received new action goal ×2 + 3.09sINFOros2_control_node[2026-11-09 06:00:29.189] [info] Accepted new action goal ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.177319 ms (missed cycles : 2). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.177319 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Get AprilTag Pose from Image | get_april_tag_pose_from_image.xml | 0.0s | 3 errors · 3 warnings · 79 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (2.52e-07 s). ×2 + 0.09sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.10sINFOros2_control_node[2026-11-09 06:00:26.203] [info] Received new action goal ×2 + 0.10sINFOros2_control_node[2026-11-09 06:00:26.203] [info] Accepted new action goal ×2 + 2.27sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOros2_control_node[2026-11-09 06:00:28.372] [info] Got request to cancel active goal. ×2 + 2.27sINFOros2_control_node[2026-11-09 06:00:28.372] [info] Canceling active goal... ×2 + 2.27sERRORobjective_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: 1794204028.37465858 seconds ×3 + 2.28sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.28sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.29sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.29sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.29sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.29sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.29sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.29sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.29sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.29sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.81sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.81sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.81sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.81sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.81sINFOobjective_server_nodecaller: ×2 + 2.81sINFOobjective_server_nodetype: 0 ×2 + 2.81sINFOobjective_server_nodename: "" ×2 + 2.81sINFOobjective_server_nodeinstance_id: "" ×2 + 2.81sINFOobjective_server_node ×2 + 2.89sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1794204028.99511313 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.90sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.90sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.07sINFOobjective_server_nodeFound path in 0 iterations (3.55e-07 s). ×2 + 3.07sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.09sINFOros2_control_node[2026-11-09 06:00:29.189] [info] Received new action goal ×2 + 3.09sINFOros2_control_node[2026-11-09 06:00:29.189] [info] Accepted new action goal ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.177319 ms (missed cycles : 2). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.177319 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Get Bottle Grasp via ICP Subtree | get_bottle_grasp_via_icp_subtree.xml | 0.0s | 3 errors · 3 warnings · 79 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (2.52e-07 s). ×2 + 0.09sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.10sINFOros2_control_node[2026-11-09 06:00:26.203] [info] Received new action goal ×2 + 0.10sINFOros2_control_node[2026-11-09 06:00:26.203] [info] Accepted new action goal ×2 + 2.27sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOros2_control_node[2026-11-09 06:00:28.372] [info] Got request to cancel active goal. ×2 + 2.27sINFOros2_control_node[2026-11-09 06:00:28.372] [info] Canceling active goal... ×2 + 2.27sERRORobjective_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: 1794204028.37465858 seconds ×3 + 2.28sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.28sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.29sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.29sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.29sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.29sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.29sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.29sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.29sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.29sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.81sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.81sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.81sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.81sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.81sINFOobjective_server_nodecaller: ×2 + 2.81sINFOobjective_server_nodetype: 0 ×2 + 2.81sINFOobjective_server_nodename: "" ×2 + 2.81sINFOobjective_server_nodeinstance_id: "" ×2 + 2.81sINFOobjective_server_node ×2 + 2.89sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1794204028.99511313 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.90sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.90sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.07sINFOobjective_server_nodeFound path in 0 iterations (3.55e-07 s). ×2 + 3.07sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.09sINFOros2_control_node[2026-11-09 06:00:29.189] [info] Received new action goal ×2 + 3.09sINFOros2_control_node[2026-11-09 06:00:29.189] [info] Accepted new action goal ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.177319 ms (missed cycles : 2). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.177319 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Get Collision Free Grasp Subtree | get_collision_free_grasp_subtree.xml | 0.0s | 3 errors · 3 warnings · 79 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (2.52e-07 s). ×2 + 0.09sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.10sINFOros2_control_node[2026-11-09 06:00:26.203] [info] Received new action goal ×2 + 0.10sINFOros2_control_node[2026-11-09 06:00:26.203] [info] Accepted new action goal ×2 + 2.27sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOros2_control_node[2026-11-09 06:00:28.372] [info] Got request to cancel active goal. ×2 + 2.27sINFOros2_control_node[2026-11-09 06:00:28.372] [info] Canceling active goal... ×2 + 2.27sERRORobjective_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: 1794204028.37465858 seconds ×3 + 2.28sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.28sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.29sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.29sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.29sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.29sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.29sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.29sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.29sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.29sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.81sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.81sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.81sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.81sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.81sINFOobjective_server_nodecaller: ×2 + 2.81sINFOobjective_server_nodetype: 0 ×2 + 2.81sINFOobjective_server_nodename: "" ×2 + 2.81sINFOobjective_server_nodeinstance_id: "" ×2 + 2.81sINFOobjective_server_node ×2 + 2.89sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1794204028.99511313 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.90sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.90sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.07sINFOobjective_server_nodeFound path in 0 iterations (3.55e-07 s). ×2 + 3.07sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.09sINFOros2_control_node[2026-11-09 06:00:29.189] [info] Received new action goal ×2 + 3.09sINFOros2_control_node[2026-11-09 06:00:29.189] [info] Accepted new action goal ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.177319 ms (missed cycles : 2). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.177319 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Get Fresh Point Cloud | get_fresh_point_cloud.xml | 0.0s | 3 errors · 3 warnings · 79 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (2.52e-07 s). ×2 + 0.09sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.10sINFOros2_control_node[2026-11-09 06:00:26.203] [info] Received new action goal ×2 + 0.10sINFOros2_control_node[2026-11-09 06:00:26.203] [info] Accepted new action goal ×2 + 2.27sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOros2_control_node[2026-11-09 06:00:28.372] [info] Got request to cancel active goal. ×2 + 2.27sINFOros2_control_node[2026-11-09 06:00:28.372] [info] Canceling active goal... ×2 + 2.27sERRORobjective_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: 1794204028.37465858 seconds ×3 + 2.28sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.28sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.29sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.29sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.29sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.29sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.29sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.29sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.29sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.29sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.81sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.81sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.81sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.81sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.81sINFOobjective_server_nodecaller: ×2 + 2.81sINFOobjective_server_nodetype: 0 ×2 + 2.81sINFOobjective_server_nodename: "" ×2 + 2.81sINFOobjective_server_nodeinstance_id: "" ×2 + 2.81sINFOobjective_server_node ×2 + 2.89sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1794204028.99511313 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.90sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.90sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.07sINFOobjective_server_nodeFound path in 0 iterations (3.55e-07 s). ×2 + 3.07sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.09sINFOros2_control_node[2026-11-09 06:00:29.189] [info] Received new action goal ×2 + 3.09sINFOros2_control_node[2026-11-09 06:00:29.189] [info] Accepted new action goal ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.177319 ms (missed cycles : 2). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.177319 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | GetPoseAtGripperandDisplay | get_pose_at_gripper_and_display.xml | 0.0s | 3 errors · 3 warnings · 79 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (2.52e-07 s). ×2 + 0.09sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.10sINFOros2_control_node[2026-11-09 06:00:26.203] [info] Received new action goal ×2 + 0.10sINFOros2_control_node[2026-11-09 06:00:26.203] [info] Accepted new action goal ×2 + 2.27sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOros2_control_node[2026-11-09 06:00:28.372] [info] Got request to cancel active goal. ×2 + 2.27sINFOros2_control_node[2026-11-09 06:00:28.372] [info] Canceling active goal... ×2 + 2.27sERRORobjective_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: 1794204028.37465858 seconds ×3 + 2.28sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.28sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.29sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.29sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.29sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.29sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.29sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.29sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.29sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.29sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.81sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.81sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.81sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.81sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.81sINFOobjective_server_nodecaller: ×2 + 2.81sINFOobjective_server_nodetype: 0 ×2 + 2.81sINFOobjective_server_nodename: "" ×2 + 2.81sINFOobjective_server_nodeinstance_id: "" ×2 + 2.81sINFOobjective_server_node ×2 + 2.89sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1794204028.99511313 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.90sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.90sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.07sINFOobjective_server_nodeFound path in 0 iterations (3.55e-07 s). ×2 + 3.07sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.09sINFOros2_control_node[2026-11-09 06:00:29.189] [info] Received new action goal ×2 + 3.09sINFOros2_control_node[2026-11-09 06:00:29.189] [info] Accepted new action goal ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.177319 ms (missed cycles : 2). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.177319 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Get Transform Frame Pose | get_transform_frame_pose.xml | 0.0s | 3 errors · 3 warnings · 79 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (2.52e-07 s). ×2 + 0.09sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.10sINFOros2_control_node[2026-11-09 06:00:26.203] [info] Received new action goal ×2 + 0.10sINFOros2_control_node[2026-11-09 06:00:26.203] [info] Accepted new action goal ×2 + 2.27sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOros2_control_node[2026-11-09 06:00:28.372] [info] Got request to cancel active goal. ×2 + 2.27sINFOros2_control_node[2026-11-09 06:00:28.372] [info] Canceling active goal... ×2 + 2.27sERRORobjective_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: 1794204028.37465858 seconds ×3 + 2.28sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.28sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.29sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.29sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.29sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.29sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.29sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.29sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.29sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.29sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.81sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.81sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.81sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.81sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.81sINFOobjective_server_nodecaller: ×2 + 2.81sINFOobjective_server_nodetype: 0 ×2 + 2.81sINFOobjective_server_nodename: "" ×2 + 2.81sINFOobjective_server_nodeinstance_id: "" ×2 + 2.81sINFOobjective_server_node ×2 + 2.89sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1794204028.99511313 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.90sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.90sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.07sINFOobjective_server_nodeFound path in 0 iterations (3.55e-07 s). ×2 + 3.07sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.09sINFOros2_control_node[2026-11-09 06:00:29.189] [info] Received new action goal ×2 + 3.09sINFOros2_control_node[2026-11-09 06:00:29.189] [info] Accepted new action goal ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.177319 ms (missed cycles : 2). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.177319 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Grasp Planning | grasp_planning.xml | 0.0s | 3 errors · 3 warnings · 79 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (2.52e-07 s). ×2 + 0.09sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.10sINFOros2_control_node[2026-11-09 06:00:26.203] [info] Received new action goal ×2 + 0.10sINFOros2_control_node[2026-11-09 06:00:26.203] [info] Accepted new action goal ×2 + 2.27sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOros2_control_node[2026-11-09 06:00:28.372] [info] Got request to cancel active goal. ×2 + 2.27sINFOros2_control_node[2026-11-09 06:00:28.372] [info] Canceling active goal... ×2 + 2.27sERRORobjective_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: 1794204028.37465858 seconds ×3 + 2.28sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.28sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.29sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.29sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.29sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.29sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.29sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.29sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.29sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.29sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.81sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.81sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.81sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.81sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.81sINFOobjective_server_nodecaller: ×2 + 2.81sINFOobjective_server_nodetype: 0 ×2 + 2.81sINFOobjective_server_nodename: "" ×2 + 2.81sINFOobjective_server_nodeinstance_id: "" ×2 + 2.81sINFOobjective_server_node ×2 + 2.89sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1794204028.99511313 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.90sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.90sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.07sINFOobjective_server_nodeFound path in 0 iterations (3.55e-07 s). ×2 + 3.07sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.09sINFOros2_control_node[2026-11-09 06:00:29.189] [info] Received new action goal ×2 + 3.09sINFOros2_control_node[2026-11-09 06:00:29.189] [info] Accepted new action goal ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.177319 ms (missed cycles : 2). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.177319 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Joint Diagnostic | joint_diagnostic.xml | 0.0s | 44 info |
+ 0.00sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 0.00sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 0.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 0.00sINFOcontroller_managerSuccessfully switched controllers! ×2 + 0.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 0.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 0.05sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 0.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 0.05sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 0.05sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 0.06sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 0.06sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 0.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Live Surface Coverage Demo"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.58sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 0.58sINFOobjective_server_nodeobjective_name: "Live Surface Coverage Demo" ×2 + 0.58sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 0.58sINFOobjective_server_nodeparameter_overrides: [] ×2 + 0.58sINFOobjective_server_nodecaller: ×2 + 0.58sINFOobjective_server_nodetype: 0 ×2 + 0.58sINFOobjective_server_nodename: "" ×2 + 0.58sINFOobjective_server_nodeinstance_id: "" ×2 + 0.58sINFOobjective_server_node ×2 | ||||
| − 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: 1794204094.98059320 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 + 0.02sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 0.02sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 0.02sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 0.02sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 0.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load MuJoCo Robot State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.54sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.54sINFOobjective_server_nodeobjective_name: "Load MuJoCo Robot State" ×2 + 0.54sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.54sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.54sINFOobjective_server_nodecaller: ×4 + 0.54sINFOobjective_server_nodetype: 0 ×4 + 0.54sINFOobjective_server_nodename: "" ×4 + 0.54sINFOobjective_server_nodeinstance_id: "" ×4 + 0.54sINFOobjective_server_node ×4 + 0.59sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1794204095.57405829 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 + 0.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.641343 ms (missed cycles : 7). + 0.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.641343 ms (missed cycles : 7).[0m ×2 + 0.67sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1794204095.65420938 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: ""
+ 1.41sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 1.47sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1794204096.45271182 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 (2.56e-07 s). ×2 + 1.58sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.59sINFOros2_control_node[2026-11-09 06:01:36.566] [info] Received new action goal ×2 + 1.59sINFOros2_control_node[2026-11-09 06:01:36.566] [info] Accepted new action goal ×2 + 3.59sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1794204098.57288051 seconds ×3 | ||||
| − skipped | ML Find Bottles on Table from Image Exemplar | ml_find_bottles_on_table_from_image_exemplar.xml | 0.0s | 91 info |
+ 0.00sINFOobjective_server_nodeFound path in 0 iterations (2.56e-07 s). ×2 + 0.00sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.01sINFOros2_control_node[2026-11-09 06:01:36.566] [info] Received new action goal ×2 + 0.01sINFOros2_control_node[2026-11-09 06:01:36.566] [info] Accepted new action goal ×2 + 2.02sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1794204098.57288051 seconds ×3 + 3.03sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.03sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.03sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.04sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.04sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.04sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.05sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.57sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.57sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.57sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.57sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.57sINFOobjective_server_nodecaller: ×2 + 3.57sINFOobjective_server_nodetype: 0 ×2 + 3.57sINFOobjective_server_nodename: "" ×2 + 3.57sINFOobjective_server_nodeinstance_id: "" ×2 + 3.57sINFOobjective_server_node ×2 + 3.64sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1794204100.19539976 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.64sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.64sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.72sINFOobjective_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 + 3.73sINFOobjective_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 + 3.87sINFOros2_control_nodeMuJoCo sim: 0.01% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 4.00sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). ×2 + 4.01sINFOobjective_server_nodePath shortcutter: [X_____________X] ×4 + 4.03sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.05sINFOros2_control_node[2026-11-09 06:01:40.603] [info] Received new action goal ×2 + 4.05sINFOros2_control_node[2026-11-09 06:01:40.603] [info] Accepted new action goal ×2 + 6.90sINFOobjective_server_nodeFound path in 0 iterations (4.62e-07 s). ×2 + 6.92sINFOros2_control_node[2026-11-09 06:01:43.470] [info] Received new action goal ×2 + 6.92sINFOros2_control_node[2026-11-09 06:01:43.470] [info] Accepted new action goal ×2 | ||||
| − skipped | ML Segment Bottles from File | ml_segment_bottles_from_file.xml | 0.0s | 91 info |
+ 0.00sINFOobjective_server_nodeFound path in 0 iterations (2.56e-07 s). ×2 + 0.00sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.01sINFOros2_control_node[2026-11-09 06:01:36.566] [info] Received new action goal ×2 + 0.01sINFOros2_control_node[2026-11-09 06:01:36.566] [info] Accepted new action goal ×2 + 2.02sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1794204098.57288051 seconds ×3 + 3.03sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.03sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.03sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.04sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.04sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.04sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.05sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.57sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.57sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.57sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.57sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.57sINFOobjective_server_nodecaller: ×2 + 3.57sINFOobjective_server_nodetype: 0 ×2 + 3.57sINFOobjective_server_nodename: "" ×2 + 3.57sINFOobjective_server_nodeinstance_id: "" ×2 + 3.57sINFOobjective_server_node ×2 + 3.64sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1794204100.19539976 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.64sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.64sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.72sINFOobjective_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 + 3.73sINFOobjective_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 + 3.87sINFOros2_control_nodeMuJoCo sim: 0.01% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 4.00sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). ×2 + 4.01sINFOobjective_server_nodePath shortcutter: [X_____________X] ×4 + 4.03sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.05sINFOros2_control_node[2026-11-09 06:01:40.603] [info] Received new action goal ×2 + 4.05sINFOros2_control_node[2026-11-09 06:01:40.603] [info] Accepted new action goal ×2 + 6.90sINFOobjective_server_nodeFound path in 0 iterations (4.62e-07 s). ×2 + 6.92sINFOros2_control_node[2026-11-09 06:01:43.470] [info] Received new action goal ×2 + 6.92sINFOros2_control_node[2026-11-09 06:01:43.470] [info] Accepted new action goal ×2 | ||||
| − skipped | ML Segment Image | ml_segment_image.xml | 0.0s | 91 info |
+ 0.00sINFOobjective_server_nodeFound path in 0 iterations (2.56e-07 s). ×2 + 0.00sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.01sINFOros2_control_node[2026-11-09 06:01:36.566] [info] Received new action goal ×2 + 0.01sINFOros2_control_node[2026-11-09 06:01:36.566] [info] Accepted new action goal ×2 + 2.02sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1794204098.57288051 seconds ×3 + 3.03sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.03sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.03sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.04sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.04sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.04sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.05sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.57sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.57sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.57sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.57sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.57sINFOobjective_server_nodecaller: ×2 + 3.57sINFOobjective_server_nodetype: 0 ×2 + 3.57sINFOobjective_server_nodename: "" ×2 + 3.57sINFOobjective_server_nodeinstance_id: "" ×2 + 3.57sINFOobjective_server_node ×2 + 3.64sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1794204100.19539976 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.64sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.64sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.72sINFOobjective_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 + 3.73sINFOobjective_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 + 3.87sINFOros2_control_nodeMuJoCo sim: 0.01% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 4.00sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). ×2 + 4.01sINFOobjective_server_nodePath shortcutter: [X_____________X] ×4 + 4.03sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.05sINFOros2_control_node[2026-11-09 06:01:40.603] [info] Received new action goal ×2 + 4.05sINFOros2_control_node[2026-11-09 06:01:40.603] [info] Accepted new action goal ×2 + 6.90sINFOobjective_server_nodeFound path in 0 iterations (4.62e-07 s). ×2 + 6.92sINFOros2_control_node[2026-11-09 06:01:43.470] [info] Received new action goal ×2 + 6.92sINFOros2_control_node[2026-11-09 06:01:43.470] [info] Accepted new action goal ×2 | ||||
| − skipped | ML Segment Image Loop | ml_segment_image_loop.xml | 0.0s | 91 info |
+ 0.00sINFOobjective_server_nodeFound path in 0 iterations (2.56e-07 s). ×2 + 0.00sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.01sINFOros2_control_node[2026-11-09 06:01:36.566] [info] Received new action goal ×2 + 0.01sINFOros2_control_node[2026-11-09 06:01:36.566] [info] Accepted new action goal ×2 + 2.02sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1794204098.57288051 seconds ×3 + 3.03sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.03sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.03sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.04sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.04sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.04sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.05sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.57sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.57sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.57sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.57sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.57sINFOobjective_server_nodecaller: ×2 + 3.57sINFOobjective_server_nodetype: 0 ×2 + 3.57sINFOobjective_server_nodename: "" ×2 + 3.57sINFOobjective_server_nodeinstance_id: "" ×2 + 3.57sINFOobjective_server_node ×2 + 3.64sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1794204100.19539976 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.64sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.64sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.72sINFOobjective_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 + 3.73sINFOobjective_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 + 3.87sINFOros2_control_nodeMuJoCo sim: 0.01% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 4.00sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). ×2 + 4.01sINFOobjective_server_nodePath shortcutter: [X_____________X] ×4 + 4.03sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.05sINFOros2_control_node[2026-11-09 06:01:40.603] [info] Received new action goal ×2 + 4.05sINFOros2_control_node[2026-11-09 06:01:40.603] [info] Accepted new action goal ×2 + 6.90sINFOobjective_server_nodeFound path in 0 iterations (4.62e-07 s). ×2 + 6.92sINFOros2_control_node[2026-11-09 06:01:43.470] [info] Received new action goal ×2 + 6.92sINFOros2_control_node[2026-11-09 06:01:43.470] [info] Accepted new action goal ×2 | ||||
| − skipped | ML Segment Point Cloud | ml_segment_point_cloud.xml | 0.0s | 91 info |
+ 0.00sINFOobjective_server_nodeFound path in 0 iterations (2.56e-07 s). ×2 + 0.00sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.01sINFOros2_control_node[2026-11-09 06:01:36.566] [info] Received new action goal ×2 + 0.01sINFOros2_control_node[2026-11-09 06:01:36.566] [info] Accepted new action goal ×2 + 2.02sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1794204098.57288051 seconds ×3 + 3.03sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.03sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.03sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.04sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.04sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.04sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.05sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.57sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.57sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.57sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.57sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.57sINFOobjective_server_nodecaller: ×2 + 3.57sINFOobjective_server_nodetype: 0 ×2 + 3.57sINFOobjective_server_nodename: "" ×2 + 3.57sINFOobjective_server_nodeinstance_id: "" ×2 + 3.57sINFOobjective_server_node ×2 + 3.64sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1794204100.19539976 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.64sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.64sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.72sINFOobjective_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 + 3.73sINFOobjective_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 + 3.87sINFOros2_control_nodeMuJoCo sim: 0.01% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 4.00sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). ×2 + 4.01sINFOobjective_server_nodePath shortcutter: [X_____________X] ×4 + 4.03sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.05sINFOros2_control_node[2026-11-09 06:01:40.603] [info] Received new action goal ×2 + 4.05sINFOros2_control_node[2026-11-09 06:01:40.603] [info] Accepted new action goal ×2 + 6.90sINFOobjective_server_nodeFound path in 0 iterations (4.62e-07 s). ×2 + 6.92sINFOros2_control_node[2026-11-09 06:01:43.470] [info] Received new action goal ×2 + 6.92sINFOros2_control_node[2026-11-09 06:01:43.470] [info] Accepted new action goal ×2 | ||||
| − skipped | ML Segment Point Cloud from Clicked Point | ml_segment_point_cloud_from_clicked_point.xml | 0.0s | 91 info |
+ 0.00sINFOobjective_server_nodeFound path in 0 iterations (2.56e-07 s). ×2 + 0.00sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.01sINFOros2_control_node[2026-11-09 06:01:36.566] [info] Received new action goal ×2 + 0.01sINFOros2_control_node[2026-11-09 06:01:36.566] [info] Accepted new action goal ×2 + 2.02sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1794204098.57288051 seconds ×3 + 3.03sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.03sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.03sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.04sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.04sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.04sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.05sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.57sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.57sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.57sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.57sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.57sINFOobjective_server_nodecaller: ×2 + 3.57sINFOobjective_server_nodetype: 0 ×2 + 3.57sINFOobjective_server_nodename: "" ×2 + 3.57sINFOobjective_server_nodeinstance_id: "" ×2 + 3.57sINFOobjective_server_node ×2 + 3.64sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1794204100.19539976 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.64sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.64sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.72sINFOobjective_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 + 3.73sINFOobjective_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 + 3.87sINFOros2_control_nodeMuJoCo sim: 0.01% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 4.00sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). ×2 + 4.01sINFOobjective_server_nodePath shortcutter: [X_____________X] ×4 + 4.03sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.05sINFOros2_control_node[2026-11-09 06:01:40.603] [info] Received new action goal ×2 + 4.05sINFOros2_control_node[2026-11-09 06:01:40.603] [info] Accepted new action goal ×2 + 6.90sINFOobjective_server_nodeFound path in 0 iterations (4.62e-07 s). ×2 + 6.92sINFOros2_control_node[2026-11-09 06:01:43.470] [info] Received new action goal ×2 + 6.92sINFOros2_control_node[2026-11-09 06:01:43.470] [info] Accepted new action goal ×2 | ||||
| − skipped | Move Along Square | move_along_square.xml | 0.0s | 91 info |
+ 0.00sINFOobjective_server_nodeFound path in 0 iterations (2.56e-07 s). ×2 + 0.00sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.01sINFOros2_control_node[2026-11-09 06:01:36.566] [info] Received new action goal ×2 + 0.01sINFOros2_control_node[2026-11-09 06:01:36.566] [info] Accepted new action goal ×2 + 2.02sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1794204098.57288051 seconds ×3 + 3.03sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.03sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.03sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.04sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.04sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.04sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.05sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.57sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.57sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.57sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.57sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.57sINFOobjective_server_nodecaller: ×2 + 3.57sINFOobjective_server_nodetype: 0 ×2 + 3.57sINFOobjective_server_nodename: "" ×2 + 3.57sINFOobjective_server_nodeinstance_id: "" ×2 + 3.57sINFOobjective_server_node ×2 + 3.64sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1794204100.19539976 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.64sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.64sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.72sINFOobjective_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 + 3.73sINFOobjective_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 + 3.87sINFOros2_control_nodeMuJoCo sim: 0.01% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 4.00sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). ×2 + 4.01sINFOobjective_server_nodePath shortcutter: [X_____________X] ×4 + 4.03sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.05sINFOros2_control_node[2026-11-09 06:01:40.603] [info] Received new action goal ×2 + 4.05sINFOros2_control_node[2026-11-09 06:01:40.603] [info] Accepted new action goal ×2 + 6.90sINFOobjective_server_nodeFound path in 0 iterations (4.62e-07 s). ×2 + 6.92sINFOros2_control_node[2026-11-09 06:01:43.470] [info] Received new action goal ×2 + 6.92sINFOros2_control_node[2026-11-09 06:01:43.470] [info] Accepted new action goal ×2 | ||||
| − skipped | MPC Pose Tracking | mpc_pose_tracking.xml | 0.0s | 6 warnings · 1000 info |
+ 0.00sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1794204153.85876036 seconds ×3 + 0.01sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 0.01sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 0.01sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×3 + 0.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 0.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 0.02sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 0.02sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 0.02sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 0.02sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 0.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.54sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 0.54sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample" ×2 + 0.54sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 0.54sINFOobjective_server_nodeparameter_overrides: [] ×2 + 0.54sINFOobjective_server_nodecaller: ×2 + 0.54sINFOobjective_server_nodetype: 0 ×2 + 0.54sINFOobjective_server_nodename: "" ×2 + 0.54sINFOobjective_server_nodeinstance_id: "" ×2 + 0.54sINFOobjective_server_node ×2 + 0.61sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1794204154.46892571 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.67sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 0.76sINFOobjective_server_nodeFound path in 0 iterations (2.59e-07 s). ×2 + 0.76sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 0.77sINFOros2_control_node[2026-11-09 06:02:34.633] [info] Received new action goal ×2 + 0.77sINFOros2_control_node[2026-11-09 06:02:34.633] [info] Accepted new action goal ×2 + 2.04sINFOobjective_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 + 2.05sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 2.11sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×3 + 2.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 2.11sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] + 2.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 2.11sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 2.11sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] + 2.11sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 2.11sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 2.11sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 2.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.070523 ms (missed cycles : 2). + 2.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.070523 ms (missed cycles : 2).[0m ×2 + 2.77sINFOjoint_trajectory_controllerReceived new action goal ×153 + 2.77sINFOjoint_trajectory_controllerAccepted new action goal ×153 + 2.77sINFOros2_control_nodeReceived new action goal[0m ×306 + 2.77sINFOros2_control_nodeAccepted new action goal[0m ×304 + 3.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.877788 ms (missed cycles : 2). + 3.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.877788 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | MPC Pose Tracking With Point Cloud Avoidance | mpc_pose_tracking_with_point_cloud_avoidance.xml | 0.0s | 9 warnings · 2380 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×382 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×382 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×764 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×764 + 1.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.778730 ms (missed cycles : 2). + 1.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.778730 ms (missed cycles : 2).[0m ×2 + 2.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.711193 ms (missed cycles : 2). + 2.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.711193 ms (missed cycles : 2).[0m ×2 + 3.07sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1794204206.50752926 seconds ×3 + 3.08sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.08sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.08sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.08sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.18sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.18sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.18sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.18sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.18sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.18sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.18sINFOros2_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: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.71sINFOobjective_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: ""
+ 3.71sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.71sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×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 `Pick April Tag Labeled Object With Approval` starting at time: 1794204207.23930359 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 + 3.90sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.90sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.90sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.90sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.90sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.90sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.99sINFOobjective_server_nodeFound path in 0 iterations (3.68e-07 s). ×2 + 3.99sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.00sINFOros2_control_node[2026-11-09 06:03:27.433] [info] Received new action goal ×2 + 4.00sINFOros2_control_node[2026-11-09 06:03:27.433] [info] Accepted new action goal ×2 + 6.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.795459 ms (missed cycles : 5). + 6.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.795459 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Octomap Example | octomap_example.xml | 0.0s | 9 warnings · 2380 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×382 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×382 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×764 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×764 + 1.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.778730 ms (missed cycles : 2). + 1.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.778730 ms (missed cycles : 2).[0m ×2 + 2.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.711193 ms (missed cycles : 2). + 2.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.711193 ms (missed cycles : 2).[0m ×2 + 3.07sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1794204206.50752926 seconds ×3 + 3.08sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.08sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.08sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.08sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.18sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.18sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.18sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.18sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.18sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.18sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.18sINFOros2_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: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.71sINFOobjective_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: ""
+ 3.71sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.71sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×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 `Pick April Tag Labeled Object With Approval` starting at time: 1794204207.23930359 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 + 3.90sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.90sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.90sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.90sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.90sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.90sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.99sINFOobjective_server_nodeFound path in 0 iterations (3.68e-07 s). ×2 + 3.99sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.00sINFOros2_control_node[2026-11-09 06:03:27.433] [info] Received new action goal ×2 + 4.00sINFOros2_control_node[2026-11-09 06:03:27.433] [info] Accepted new action goal ×2 + 6.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.795459 ms (missed cycles : 5). + 6.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.795459 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Pick 1 Pill Bottle with SAM3 | pick_1_pill_bottle_with_sam3.xml | 0.0s | 9 warnings · 2380 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×382 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×382 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×764 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×764 + 1.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.778730 ms (missed cycles : 2). + 1.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.778730 ms (missed cycles : 2).[0m ×2 + 2.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.711193 ms (missed cycles : 2). + 2.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.711193 ms (missed cycles : 2).[0m ×2 + 3.07sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1794204206.50752926 seconds ×3 + 3.08sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.08sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.08sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.08sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.18sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.18sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.18sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.18sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.18sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.18sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.18sINFOros2_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: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.71sINFOobjective_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: ""
+ 3.71sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.71sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×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 `Pick April Tag Labeled Object With Approval` starting at time: 1794204207.23930359 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 + 3.90sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.90sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.90sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.90sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.90sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.90sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.99sINFOobjective_server_nodeFound path in 0 iterations (3.68e-07 s). ×2 + 3.99sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.00sINFOros2_control_node[2026-11-09 06:03:27.433] [info] Received new action goal ×2 + 4.00sINFOros2_control_node[2026-11-09 06:03:27.433] [info] Accepted new action goal ×2 + 6.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.795459 ms (missed cycles : 5). + 6.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.795459 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Pick All Bottles with AprilTags | pick_all_bottles_with_apriltags.xml | 0.0s | 9 warnings · 2380 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×382 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×382 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×764 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×764 + 1.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.778730 ms (missed cycles : 2). + 1.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.778730 ms (missed cycles : 2).[0m ×2 + 2.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.711193 ms (missed cycles : 2). + 2.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.711193 ms (missed cycles : 2).[0m ×2 + 3.07sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1794204206.50752926 seconds ×3 + 3.08sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.08sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.08sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.08sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.18sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.18sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.18sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.18sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.18sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.18sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.18sINFOros2_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: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.71sINFOobjective_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: ""
+ 3.71sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.71sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×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 `Pick April Tag Labeled Object With Approval` starting at time: 1794204207.23930359 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 + 3.90sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.90sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.90sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.90sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.90sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.90sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.99sINFOobjective_server_nodeFound path in 0 iterations (3.68e-07 s). ×2 + 3.99sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.00sINFOros2_control_node[2026-11-09 06:03:27.433] [info] Received new action goal ×2 + 4.00sINFOros2_control_node[2026-11-09 06:03:27.433] [info] Accepted new action goal ×2 + 6.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.795459 ms (missed cycles : 5). + 6.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.795459 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Pick All Pill Bottles | pick_all_pill_bottles.xml | 0.0s | 9 warnings · 2380 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×382 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×382 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×764 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×764 + 1.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.778730 ms (missed cycles : 2). + 1.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.778730 ms (missed cycles : 2).[0m ×2 + 2.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.711193 ms (missed cycles : 2). + 2.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.711193 ms (missed cycles : 2).[0m ×2 + 3.07sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1794204206.50752926 seconds ×3 + 3.08sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.08sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.08sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.08sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.18sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.18sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.18sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.18sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.18sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.18sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.18sINFOros2_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: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.71sINFOobjective_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: ""
+ 3.71sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.71sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×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 `Pick April Tag Labeled Object With Approval` starting at time: 1794204207.23930359 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 + 3.90sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.90sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.90sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.90sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.90sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.90sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.99sINFOobjective_server_nodeFound path in 0 iterations (3.68e-07 s). ×2 + 3.99sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.00sINFOros2_control_node[2026-11-09 06:03:27.433] [info] Received new action goal ×2 + 4.00sINFOros2_control_node[2026-11-09 06:03:27.433] [info] Accepted new action goal ×2 + 6.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.795459 ms (missed cycles : 5). + 6.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.795459 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Pick from AprilTag Detections | pick_from_apriltag_detections.xml | 0.0s | 76 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[2026-11-09 06:03:35.253] [info] Received new action goal ×2 + 0.35sINFOros2_control_node[2026-11-09 06:03:35.253] [info] Accepted new action goal ×2 + 1.65sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1794204216.54951668 seconds ×3 + 2.41sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.41sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.41sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.41sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.41sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.41sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.42sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.42sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.42sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.42sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.42sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.42sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.95sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.95sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 2.95sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.95sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.95sINFOobjective_server_nodecaller: ×2 + 2.95sINFOobjective_server_nodetype: 0 ×2 + 2.95sINFOobjective_server_nodename: "" ×2 + 2.95sINFOobjective_server_nodeinstance_id: "" ×2 + 2.95sINFOobjective_server_node ×2 + 3.04sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1794204217.94376373 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.21sINFOobjective_server_nodeFound path in 0 iterations (3.05e-07 s). ×2 + 3.21sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.22sINFOros2_control_node[2026-11-09 06:03:38.117] [info] Received new action goal ×2 + 3.22sINFOros2_control_node[2026-11-09 06:03:38.117] [info] Accepted new action goal ×2 + 5.12sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 5.52sINFOros2_control_nodeMuJoCo sim: 0.01% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 | ||||
| − skipped | Pick from Pose | pick_from_pose.xml | 0.0s | 76 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[2026-11-09 06:03:35.253] [info] Received new action goal ×2 + 0.35sINFOros2_control_node[2026-11-09 06:03:35.253] [info] Accepted new action goal ×2 + 1.65sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1794204216.54951668 seconds ×3 + 2.41sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.41sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.41sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.41sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.41sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.41sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.42sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.42sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.42sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.42sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.42sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.42sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.95sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.95sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 2.95sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.95sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.95sINFOobjective_server_nodecaller: ×2 + 2.95sINFOobjective_server_nodetype: 0 ×2 + 2.95sINFOobjective_server_nodename: "" ×2 + 2.95sINFOobjective_server_nodeinstance_id: "" ×2 + 2.95sINFOobjective_server_node ×2 + 3.04sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1794204217.94376373 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.21sINFOobjective_server_nodeFound path in 0 iterations (3.05e-07 s). ×2 + 3.21sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.22sINFOros2_control_node[2026-11-09 06:03:38.117] [info] Received new action goal ×2 + 3.22sINFOros2_control_node[2026-11-09 06:03:38.117] [info] Accepted new action goal ×2 + 5.12sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 5.52sINFOros2_control_nodeMuJoCo sim: 0.01% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 | ||||
| − skipped | Pick from Pose Vector | pick_from_pose_vector.xml | 0.0s | 76 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[2026-11-09 06:03:35.253] [info] Received new action goal ×2 + 0.35sINFOros2_control_node[2026-11-09 06:03:35.253] [info] Accepted new action goal ×2 + 1.65sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1794204216.54951668 seconds ×3 + 2.41sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.41sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.41sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.41sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.41sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.41sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.42sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.42sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.42sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.42sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.42sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.42sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.95sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.95sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 2.95sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.95sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.95sINFOobjective_server_nodecaller: ×2 + 2.95sINFOobjective_server_nodetype: 0 ×2 + 2.95sINFOobjective_server_nodename: "" ×2 + 2.95sINFOobjective_server_nodeinstance_id: "" ×2 + 2.95sINFOobjective_server_node ×2 + 3.04sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1794204217.94376373 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.21sINFOobjective_server_nodeFound path in 0 iterations (3.05e-07 s). ×2 + 3.21sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.22sINFOros2_control_node[2026-11-09 06:03:38.117] [info] Received new action goal ×2 + 3.22sINFOros2_control_node[2026-11-09 06:03:38.117] [info] Accepted new action goal ×2 + 5.12sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 5.52sINFOros2_control_nodeMuJoCo sim: 0.01% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 | ||||
| − skipped | Pick from Pose With Approval | pick_from_pose_with_approval.xml | 0.0s | 76 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[2026-11-09 06:03:35.253] [info] Received new action goal ×2 + 0.35sINFOros2_control_node[2026-11-09 06:03:35.253] [info] Accepted new action goal ×2 + 1.65sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1794204216.54951668 seconds ×3 + 2.41sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.41sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.41sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.41sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.41sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.41sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.42sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.42sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.42sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.42sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.42sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.42sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.95sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.95sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 2.95sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.95sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.95sINFOobjective_server_nodecaller: ×2 + 2.95sINFOobjective_server_nodetype: 0 ×2 + 2.95sINFOobjective_server_nodename: "" ×2 + 2.95sINFOobjective_server_nodeinstance_id: "" ×2 + 2.95sINFOobjective_server_node ×2 + 3.04sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1794204217.94376373 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.21sINFOobjective_server_nodeFound path in 0 iterations (3.05e-07 s). ×2 + 3.21sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.22sINFOros2_control_node[2026-11-09 06:03:38.117] [info] Received new action goal ×2 + 3.22sINFOros2_control_node[2026-11-09 06:03:38.117] [info] Accepted new action goal ×2 + 5.12sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 5.52sINFOros2_control_nodeMuJoCo sim: 0.01% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 | ||||
| − skipped | Pick up Object | pick_up_cube.xml | 0.0s | 76 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[2026-11-09 06:03:35.253] [info] Received new action goal ×2 + 0.35sINFOros2_control_node[2026-11-09 06:03:35.253] [info] Accepted new action goal ×2 + 1.65sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1794204216.54951668 seconds ×3 + 2.41sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.41sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.41sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.41sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.41sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.41sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.42sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.42sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.42sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.42sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.42sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.42sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.95sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.95sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 2.95sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.95sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.95sINFOobjective_server_nodecaller: ×2 + 2.95sINFOobjective_server_nodetype: 0 ×2 + 2.95sINFOobjective_server_nodename: "" ×2 + 2.95sINFOobjective_server_nodeinstance_id: "" ×2 + 2.95sINFOobjective_server_node ×2 + 3.04sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1794204217.94376373 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.21sINFOobjective_server_nodeFound path in 0 iterations (3.05e-07 s). ×2 + 3.21sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.22sINFOros2_control_node[2026-11-09 06:03:38.117] [info] Received new action goal ×2 + 3.22sINFOros2_control_node[2026-11-09 06:03:38.117] [info] Accepted new action goal ×2 + 5.12sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 5.52sINFOros2_control_nodeMuJoCo sim: 0.01% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 | ||||
| − skipped | Place at Pose | place_at_pose.xml | 0.0s | 76 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[2026-11-09 06:03:35.253] [info] Received new action goal ×2 + 0.35sINFOros2_control_node[2026-11-09 06:03:35.253] [info] Accepted new action goal ×2 + 1.65sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1794204216.54951668 seconds ×3 + 2.41sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.41sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.41sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.41sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.41sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.41sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.42sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.42sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.42sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.42sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.42sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.42sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.95sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.95sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 2.95sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.95sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.95sINFOobjective_server_nodecaller: ×2 + 2.95sINFOobjective_server_nodetype: 0 ×2 + 2.95sINFOobjective_server_nodename: "" ×2 + 2.95sINFOobjective_server_nodeinstance_id: "" ×2 + 2.95sINFOobjective_server_node ×2 + 3.04sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1794204217.94376373 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.21sINFOobjective_server_nodeFound path in 0 iterations (3.05e-07 s). ×2 + 3.21sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.22sINFOros2_control_node[2026-11-09 06:03:38.117] [info] Received new action goal ×2 + 3.22sINFOros2_control_node[2026-11-09 06:03:38.117] [info] Accepted new action goal ×2 + 5.12sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 5.52sINFOros2_control_nodeMuJoCo sim: 0.01% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 | ||||
| − skipped | Place at Pose Vector | place_at_pose_vector.xml | 0.0s | 76 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[2026-11-09 06:03:35.253] [info] Received new action goal ×2 + 0.35sINFOros2_control_node[2026-11-09 06:03:35.253] [info] Accepted new action goal ×2 + 1.65sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1794204216.54951668 seconds ×3 + 2.41sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.41sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.41sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.41sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.41sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.41sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.42sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.42sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.42sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.42sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.42sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.42sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.95sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.95sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 2.95sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.95sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.95sINFOobjective_server_nodecaller: ×2 + 2.95sINFOobjective_server_nodetype: 0 ×2 + 2.95sINFOobjective_server_nodename: "" ×2 + 2.95sINFOobjective_server_nodeinstance_id: "" ×2 + 2.95sINFOobjective_server_node ×2 + 3.04sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1794204217.94376373 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.21sINFOobjective_server_nodeFound path in 0 iterations (3.05e-07 s). ×2 + 3.21sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.22sINFOros2_control_node[2026-11-09 06:03:38.117] [info] Received new action goal ×2 + 3.22sINFOros2_control_node[2026-11-09 06:03:38.117] [info] Accepted new action goal ×2 + 5.12sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 5.52sINFOros2_control_nodeMuJoCo sim: 0.01% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 | ||||
| − skipped | Place at Pose with Approval | place_at_pose_with_approval.xml | 0.0s | 76 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[2026-11-09 06:03:35.253] [info] Received new action goal ×2 + 0.35sINFOros2_control_node[2026-11-09 06:03:35.253] [info] Accepted new action goal ×2 + 1.65sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1794204216.54951668 seconds ×3 + 2.41sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.41sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.41sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.41sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.41sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.41sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.42sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.42sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.42sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.42sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.42sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.42sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.95sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.95sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 2.95sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.95sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.95sINFOobjective_server_nodecaller: ×2 + 2.95sINFOobjective_server_nodetype: 0 ×2 + 2.95sINFOobjective_server_nodename: "" ×2 + 2.95sINFOobjective_server_nodeinstance_id: "" ×2 + 2.95sINFOobjective_server_node ×2 + 3.04sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1794204217.94376373 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.21sINFOobjective_server_nodeFound path in 0 iterations (3.05e-07 s). ×2 + 3.21sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.22sINFOros2_control_node[2026-11-09 06:03:38.117] [info] Received new action goal ×2 + 3.22sINFOros2_control_node[2026-11-09 06:03:38.117] [info] Accepted new action goal ×2 + 5.12sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 5.52sINFOros2_control_nodeMuJoCo sim: 0.01% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 | ||||
| − skipped | Place Object | place_object.xml | 0.0s | 76 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[2026-11-09 06:03:35.253] [info] Received new action goal ×2 + 0.35sINFOros2_control_node[2026-11-09 06:03:35.253] [info] Accepted new action goal ×2 + 1.65sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1794204216.54951668 seconds ×3 + 2.41sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.41sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.41sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.41sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.41sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.41sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.42sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.42sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.42sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.42sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.42sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.42sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.95sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.95sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 2.95sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.95sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.95sINFOobjective_server_nodecaller: ×2 + 2.95sINFOobjective_server_nodetype: 0 ×2 + 2.95sINFOobjective_server_nodename: "" ×2 + 2.95sINFOobjective_server_nodeinstance_id: "" ×2 + 2.95sINFOobjective_server_node ×2 + 3.04sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1794204217.94376373 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.21sINFOobjective_server_nodeFound path in 0 iterations (3.05e-07 s). ×2 + 3.21sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.22sINFOros2_control_node[2026-11-09 06:03:38.117] [info] Received new action goal ×2 + 3.22sINFOros2_control_node[2026-11-09 06:03:38.117] [info] Accepted new action goal ×2 + 5.12sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 5.52sINFOros2_control_nodeMuJoCo sim: 0.01% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 | ||||
| − skipped | Plan Move To Pose | plan_move_to_pose.xml | 0.0s | 3 errors · 61 info |
+ 0.00sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.00sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan and Save Trajectory` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1794204228.27436638 seconds ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 0.03sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 0.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×2 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 0.04sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 0.04sINFOros2_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 + 0.63sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1794204228.90223098 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.80sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 0.89sINFOobjective_server_nodeFound path in 0 iterations (3.89e-07 s). ×2 + 0.90sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 0.91sINFOros2_control_node[2026-11-09 06:03:49.183] [info] Received new action goal ×2 + 0.91sINFOros2_control_node[2026-11-09 06:03:49.183] [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: 1794204238.77662325 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 + 0.02sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 0.02sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 0.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Record and Replay Scanning Motion"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.54sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 0.54sINFOobjective_server_nodeobjective_name: "Record and Replay Scanning Motion" ×2 + 0.54sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 0.54sINFOobjective_server_nodeparameter_overrides: [] ×2 + 0.54sINFOobjective_server_nodecaller: ×2 + 0.54sINFOobjective_server_nodetype: 0 ×2 + 0.54sINFOobjective_server_nodename: "" ×2 + 0.54sINFOobjective_server_nodeinstance_id: "" ×2 + 0.54sINFOobjective_server_node ×2 + 0.63sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1794204239.40432262 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.64sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 0.74sINFOobjective_server_nodeFound path in 0 iterations (2.57e-07 s). ×2 + 0.74sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 0.75sINFOros2_control_node[2026-11-09 06:03:59.529] [info] Received new action goal ×2 + 0.75sINFOros2_control_node[2026-11-09 06:03:59.529] [info] Accepted new action goal ×2 + 2.66sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − skipped | Reflect Poses Subtree | reflect_poses_subtree.xml | 0.0s | 3 warnings · 191 info |
+ 0.00sINFOobjective_server_nodeObjective `Record Surface Coverage Demo` succeeded at time: 1794204294.91836214 seconds ×3 + 0.01sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.01sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.01sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.02sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.02sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.02sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.02sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.54sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 0.54sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 0.54sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 0.54sINFOobjective_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 + 0.77sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1794204295.68924093 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.79sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 0.79sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 0.81sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 0.82sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 0.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.474764 ms (missed cycles : 3). + 0.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.474764 ms (missed cycles : 3).[0m ×2 + 0.83sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1794204295.74942970 seconds ×3 + 1.37sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.37sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 1.43sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1794204296.34405279 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.45sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 1.45sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1794204296.36551690 seconds ×3 + 2.10sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.10sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 2.17sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1794204297.08863306 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.18sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 2.27sINFOobjective_server_nodeFound path in 0 iterations (2.56e-07 s). ×2 + 2.27sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 2.28sINFOros2_control_node[2026-11-09 06:04:57.202] [info] Received new action goal ×2 + 2.28sINFOros2_control_node[2026-11-09 06:04:57.202] [info] Accepted new action goal ×2 | ||||
| − skipped | Register CAD Part | register_cad_part.xml | 0.0s | 3 warnings · 191 info |
+ 0.00sINFOobjective_server_nodeObjective `Record Surface Coverage Demo` succeeded at time: 1794204294.91836214 seconds ×3 + 0.01sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.01sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.01sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.02sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.02sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.02sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.02sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.54sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 0.54sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 0.54sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 0.54sINFOobjective_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 + 0.77sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1794204295.68924093 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.79sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 0.79sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 0.81sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 0.82sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 0.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.474764 ms (missed cycles : 3). + 0.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.474764 ms (missed cycles : 3).[0m ×2 + 0.83sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1794204295.74942970 seconds ×3 + 1.37sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.37sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 1.43sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1794204296.34405279 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.45sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 1.45sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1794204296.36551690 seconds ×3 + 2.10sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.10sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 2.17sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1794204297.08863306 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.18sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 2.27sINFOobjective_server_nodeFound path in 0 iterations (2.56e-07 s). ×2 + 2.27sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 2.28sINFOros2_control_node[2026-11-09 06:04:57.202] [info] Received new action goal ×2 + 2.28sINFOros2_control_node[2026-11-09 06:04:57.202] [info] Accepted new action goal ×2 | ||||
| − skipped | Register CAD Part Subtree | register_cad_part_subtree.xml | 0.0s | 3 warnings · 191 info |
+ 0.00sINFOobjective_server_nodeObjective `Record Surface Coverage Demo` succeeded at time: 1794204294.91836214 seconds ×3 + 0.01sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.01sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.01sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.02sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.02sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.02sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.02sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.54sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 0.54sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 0.54sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 0.54sINFOobjective_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 + 0.77sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1794204295.68924093 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.79sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 0.79sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 0.81sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 0.82sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 0.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.474764 ms (missed cycles : 3). + 0.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.474764 ms (missed cycles : 3).[0m ×2 + 0.83sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1794204295.74942970 seconds ×3 + 1.37sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.37sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 1.43sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1794204296.34405279 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.45sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 1.45sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1794204296.36551690 seconds ×3 + 2.10sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.10sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 2.17sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1794204297.08863306 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.18sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 2.27sINFOobjective_server_nodeFound path in 0 iterations (2.56e-07 s). ×2 + 2.27sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 2.28sINFOros2_control_node[2026-11-09 06:04:57.202] [info] Received new action goal ×2 + 2.28sINFOros2_control_node[2026-11-09 06:04:57.202] [info] Accepted new action goal ×2 | ||||
| − skipped | Scan Scene - Multiple Point Clouds | scan_scene_-_multiple_point_clouds.xml | 0.0s | 3 warnings · 191 info |
+ 0.00sINFOobjective_server_nodeObjective `Record Surface Coverage Demo` succeeded at time: 1794204294.91836214 seconds ×3 + 0.01sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.01sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.01sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.02sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.02sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.02sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.02sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.54sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 0.54sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 0.54sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 0.54sINFOobjective_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 + 0.77sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1794204295.68924093 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.79sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 0.79sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 0.81sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 0.82sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 0.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.474764 ms (missed cycles : 3). + 0.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.474764 ms (missed cycles : 3).[0m ×2 + 0.83sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1794204295.74942970 seconds ×3 + 1.37sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.37sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 1.43sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1794204296.34405279 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.45sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 1.45sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1794204296.36551690 seconds ×3 + 2.10sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.10sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 2.17sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1794204297.08863306 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.18sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 2.27sINFOobjective_server_nodeFound path in 0 iterations (2.56e-07 s). ×2 + 2.27sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 2.28sINFOros2_control_node[2026-11-09 06:04:57.202] [info] Received new action goal ×2 + 2.28sINFOros2_control_node[2026-11-09 06:04:57.202] [info] Accepted new action goal ×2 | ||||
| − skipped | Segment Bottle Subtree | segment_bottle_subtree.xml | 0.0s | 3 warnings · 191 info |
+ 0.00sINFOobjective_server_nodeObjective `Record Surface Coverage Demo` succeeded at time: 1794204294.91836214 seconds ×3 + 0.01sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.01sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.01sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.02sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.02sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.02sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.02sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.54sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 0.54sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 0.54sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 0.54sINFOobjective_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 + 0.77sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1794204295.68924093 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.79sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 0.79sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 0.81sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 0.82sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 0.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.474764 ms (missed cycles : 3). + 0.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.474764 ms (missed cycles : 3).[0m ×2 + 0.83sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1794204295.74942970 seconds ×3 + 1.37sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.37sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 1.43sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1794204296.34405279 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.45sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 1.45sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1794204296.36551690 seconds ×3 + 2.10sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.10sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 2.17sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1794204297.08863306 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.18sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 2.27sINFOobjective_server_nodeFound path in 0 iterations (2.56e-07 s). ×2 + 2.27sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 2.28sINFOros2_control_node[2026-11-09 06:04:57.202] [info] Received new action goal ×2 + 2.28sINFOros2_control_node[2026-11-09 06:04:57.202] [info] Accepted new action goal ×2 | ||||
| − skipped | Select Region and Record Coverage | select_region_and_record_coverage.xml | 0.0s | 3 warnings · 191 info |
+ 0.00sINFOobjective_server_nodeObjective `Record Surface Coverage Demo` succeeded at time: 1794204294.91836214 seconds ×3 + 0.01sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.01sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.01sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.02sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.02sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.02sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.02sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.54sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 0.54sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 0.54sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 0.54sINFOobjective_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 + 0.77sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1794204295.68924093 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.79sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 0.79sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 0.81sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 0.82sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 0.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.474764 ms (missed cycles : 3). + 0.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.474764 ms (missed cycles : 3).[0m ×2 + 0.83sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1794204295.74942970 seconds ×3 + 1.37sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.37sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 1.43sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1794204296.34405279 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.45sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 1.45sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1794204296.36551690 seconds ×3 + 2.10sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.10sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 2.17sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1794204297.08863306 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.18sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 2.27sINFOobjective_server_nodeFound path in 0 iterations (2.56e-07 s). ×2 + 2.27sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 2.28sINFOros2_control_node[2026-11-09 06:04:57.202] [info] Received new action goal ×2 + 2.28sINFOros2_control_node[2026-11-09 06:04:57.202] [info] Accepted new action goal ×2 | ||||
| − skipped | Select Region for Coverage Path | select_region_for_coverage_path.xml | 0.0s | 3 warnings · 191 info |
+ 0.00sINFOobjective_server_nodeObjective `Record Surface Coverage Demo` succeeded at time: 1794204294.91836214 seconds ×3 + 0.01sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.01sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.01sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.02sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.02sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.02sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.02sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.54sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 0.54sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 0.54sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 0.54sINFOobjective_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 + 0.77sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1794204295.68924093 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.79sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 0.79sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 0.81sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 0.82sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 0.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.474764 ms (missed cycles : 3). + 0.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.474764 ms (missed cycles : 3).[0m ×2 + 0.83sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1794204295.74942970 seconds ×3 + 1.37sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.37sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 1.43sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1794204296.34405279 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.45sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 1.45sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1794204296.36551690 seconds ×3 + 2.10sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.10sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 2.17sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1794204297.08863306 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.18sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 2.27sINFOobjective_server_nodeFound path in 0 iterations (2.56e-07 s). ×2 + 2.27sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 2.28sINFOros2_control_node[2026-11-09 06:04:57.202] [info] Received new action goal ×2 + 2.28sINFOros2_control_node[2026-11-09 06:04:57.202] [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 + 0.01sINFOros2_control_node[2026-11-09 06:05:07.278] [info] Got request to cancel active goal. ×2 + 0.01sINFOros2_control_node[2026-11-09 06:05:07.278] [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: 1794204307.28312254 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 + 0.62sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1794204307.89583302 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706657 ms (missed cycles : 2). + 0.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706657 ms (missed cycles : 2).[0m ×2 + 1.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.857431 ms (missed cycles : 3). + 1.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.857431 ms (missed cycles : 3).[0m ×2 + 1.85sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1794204309.12598801 seconds ×3 + 2.40sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.40sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 2.46sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1794204309.72942376 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.46sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 2.46sINFOobjective_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 + 2.46sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 2.46sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1794204309.73150182 seconds ×3 + 2.73sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 3.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.13sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 3.19sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1794204310.46350455 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.22sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1794204310.49432635 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 + 0.01sINFOros2_control_node[2026-11-09 06:05:07.278] [info] Got request to cancel active goal. ×2 + 0.01sINFOros2_control_node[2026-11-09 06:05:07.278] [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: 1794204307.28312254 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 + 0.62sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1794204307.89583302 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706657 ms (missed cycles : 2). + 0.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706657 ms (missed cycles : 2).[0m ×2 + 1.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.857431 ms (missed cycles : 3). + 1.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.857431 ms (missed cycles : 3).[0m ×2 + 1.85sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1794204309.12598801 seconds ×3 + 2.40sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.40sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 2.46sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1794204309.72942376 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.46sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 2.46sINFOobjective_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 + 2.46sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 2.46sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1794204309.73150182 seconds ×3 + 2.73sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 3.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.13sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 3.19sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1794204310.46350455 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.22sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1794204310.49432635 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 · 322 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1794203979.43597269 seconds ×3 + 0.01sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.01sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.01sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.56sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.56sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.56sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.56sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.56sINFOobjective_server_nodecaller: ×10 + 0.56sINFOobjective_server_nodetype: 0 ×10 + 0.56sINFOobjective_server_nodename: "" ×10 + 0.56sINFOobjective_server_nodeinstance_id: "" ×10 + 0.56sINFOobjective_server_node ×10 + 0.62sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1794203980.05339074 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.68sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1794203980.11356640 seconds ×3 + 0.99sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.28sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.34sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1794203980.77122474 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.35sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1794203980.78138709 seconds ×3 + 1.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.88sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1794203981.37230325 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.09sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1794203981.52283812 seconds ×3 + 2.69sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.69sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.75sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1794203982.18714046 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.77sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.77sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.78sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.78sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.78sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.587784 ms (missed cycles : 3). + 2.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.587784 ms (missed cycles : 3).[0m ×2 + 2.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1794203982.23731589 seconds ×3 + 3.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.34sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.44sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1794203982.87846088 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.45sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.46sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.46sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.46sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.46sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.46sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.46sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.46sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.46sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.55sINFOobjective_server_nodeFound path in 0 iterations (2.2142e-05 s). ×2 + 3.56sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.57sINFOros2_control_node[2026-11-09 05:59:43.006] [info] Received new action goal ×2 + 3.57sINFOros2_control_node[2026-11-09 05:59:43.006] [info] Accepted new action goal ×2 + 5.96sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.05sINFOobjective_server_nodeFound path in 0 iterations (2.29e-07 s). ×2 + 6.06sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.08sINFOros2_control_node[2026-11-09 05:59:45.513] [info] Received new action goal ×2 + 6.08sINFOros2_control_node[2026-11-09 05:59:45.513] [info] Accepted new action goal ×2 | ||||
| − skipped | — | segment_image_from_no_negative_text_prompt_subtree.xml | 0.0s | 3 warnings · 322 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1794203979.43597269 seconds ×3 + 0.01sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.01sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.01sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.56sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.56sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.56sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.56sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.56sINFOobjective_server_nodecaller: ×10 + 0.56sINFOobjective_server_nodetype: 0 ×10 + 0.56sINFOobjective_server_nodename: "" ×10 + 0.56sINFOobjective_server_nodeinstance_id: "" ×10 + 0.56sINFOobjective_server_node ×10 + 0.62sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1794203980.05339074 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.68sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1794203980.11356640 seconds ×3 + 0.99sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.28sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.34sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1794203980.77122474 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.35sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1794203980.78138709 seconds ×3 + 1.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.88sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1794203981.37230325 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.09sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1794203981.52283812 seconds ×3 + 2.69sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.69sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.75sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1794203982.18714046 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.77sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.77sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.78sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.78sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.78sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.587784 ms (missed cycles : 3). + 2.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.587784 ms (missed cycles : 3).[0m ×2 + 2.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1794203982.23731589 seconds ×3 + 3.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.34sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.44sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1794203982.87846088 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.45sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.46sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.46sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.46sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.46sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.46sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.46sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.46sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.46sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.55sINFOobjective_server_nodeFound path in 0 iterations (2.2142e-05 s). ×2 + 3.56sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.57sINFOros2_control_node[2026-11-09 05:59:43.006] [info] Received new action goal ×2 + 3.57sINFOros2_control_node[2026-11-09 05:59:43.006] [info] Accepted new action goal ×2 + 5.96sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.05sINFOobjective_server_nodeFound path in 0 iterations (2.29e-07 s). ×2 + 6.06sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.08sINFOros2_control_node[2026-11-09 05:59:45.513] [info] Received new action goal ×2 + 6.08sINFOros2_control_node[2026-11-09 05:59:45.513] [info] Accepted new action goal ×2 | ||||
| − skipped | — | segment_image_from_point_subtree.xml | 0.0s | 3 warnings · 322 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1794203979.43597269 seconds ×3 + 0.01sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.01sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.01sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.56sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.56sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.56sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.56sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.56sINFOobjective_server_nodecaller: ×10 + 0.56sINFOobjective_server_nodetype: 0 ×10 + 0.56sINFOobjective_server_nodename: "" ×10 + 0.56sINFOobjective_server_nodeinstance_id: "" ×10 + 0.56sINFOobjective_server_node ×10 + 0.62sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1794203980.05339074 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.68sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1794203980.11356640 seconds ×3 + 0.99sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.28sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.34sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1794203980.77122474 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.35sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1794203980.78138709 seconds ×3 + 1.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.88sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1794203981.37230325 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.09sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1794203981.52283812 seconds ×3 + 2.69sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.69sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.75sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1794203982.18714046 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.77sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.77sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.78sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.78sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.78sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.587784 ms (missed cycles : 3). + 2.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.587784 ms (missed cycles : 3).[0m ×2 + 2.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1794203982.23731589 seconds ×3 + 3.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.34sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.44sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1794203982.87846088 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.45sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.46sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.46sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.46sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.46sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.46sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.46sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.46sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.46sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.55sINFOobjective_server_nodeFound path in 0 iterations (2.2142e-05 s). ×2 + 3.56sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.57sINFOros2_control_node[2026-11-09 05:59:43.006] [info] Received new action goal ×2 + 3.57sINFOros2_control_node[2026-11-09 05:59:43.006] [info] Accepted new action goal ×2 + 5.96sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.05sINFOobjective_server_nodeFound path in 0 iterations (2.29e-07 s). ×2 + 6.06sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.08sINFOros2_control_node[2026-11-09 05:59:45.513] [info] Received new action goal ×2 + 6.08sINFOros2_control_node[2026-11-09 05:59:45.513] [info] Accepted new action goal ×2 | ||||
| − skipped | — | segment_image_from_text_prompt_subtree.xml | 0.0s | 3 warnings · 322 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1794203979.43597269 seconds ×3 + 0.01sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.01sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.01sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.56sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.56sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.56sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.56sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.56sINFOobjective_server_nodecaller: ×10 + 0.56sINFOobjective_server_nodetype: 0 ×10 + 0.56sINFOobjective_server_nodename: "" ×10 + 0.56sINFOobjective_server_nodeinstance_id: "" ×10 + 0.56sINFOobjective_server_node ×10 + 0.62sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1794203980.05339074 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.68sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1794203980.11356640 seconds ×3 + 0.99sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.28sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.34sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1794203980.77122474 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.35sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1794203980.78138709 seconds ×3 + 1.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.88sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1794203981.37230325 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.09sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1794203981.52283812 seconds ×3 + 2.69sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.69sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.75sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1794203982.18714046 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.77sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.77sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.78sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.78sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.78sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.587784 ms (missed cycles : 3). + 2.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.587784 ms (missed cycles : 3).[0m ×2 + 2.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1794203982.23731589 seconds ×3 + 3.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.34sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.44sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1794203982.87846088 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.45sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.46sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.46sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.46sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.46sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.46sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.46sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.46sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.46sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.55sINFOobjective_server_nodeFound path in 0 iterations (2.2142e-05 s). ×2 + 3.56sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.57sINFOros2_control_node[2026-11-09 05:59:43.006] [info] Received new action goal ×2 + 3.57sINFOros2_control_node[2026-11-09 05:59:43.006] [info] Accepted new action goal ×2 + 5.96sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.05sINFOobjective_server_nodeFound path in 0 iterations (2.29e-07 s). ×2 + 6.06sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.08sINFOros2_control_node[2026-11-09 05:59:45.513] [info] Received new action goal ×2 + 6.08sINFOros2_control_node[2026-11-09 05:59:45.513] [info] Accepted new action goal ×2 | ||||
| − skipped | — | segment_point_cloud_from_clicked_point_subtree.xml | 0.0s | 3 warnings · 322 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1794203979.43597269 seconds ×3 + 0.01sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.01sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.01sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.56sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.56sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.56sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.56sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.56sINFOobjective_server_nodecaller: ×10 + 0.56sINFOobjective_server_nodetype: 0 ×10 + 0.56sINFOobjective_server_nodename: "" ×10 + 0.56sINFOobjective_server_nodeinstance_id: "" ×10 + 0.56sINFOobjective_server_node ×10 + 0.62sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1794203980.05339074 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.68sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1794203980.11356640 seconds ×3 + 0.99sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.28sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.34sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1794203980.77122474 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.35sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1794203980.78138709 seconds ×3 + 1.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.88sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1794203981.37230325 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.09sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1794203981.52283812 seconds ×3 + 2.69sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.69sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.75sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1794203982.18714046 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.77sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.77sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.78sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.78sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.78sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.587784 ms (missed cycles : 3). + 2.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.587784 ms (missed cycles : 3).[0m ×2 + 2.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1794203982.23731589 seconds ×3 + 3.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.34sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.44sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1794203982.87846088 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.45sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.46sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.46sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.46sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.46sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.46sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.46sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.46sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.46sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.55sINFOobjective_server_nodeFound path in 0 iterations (2.2142e-05 s). ×2 + 3.56sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.57sINFOros2_control_node[2026-11-09 05:59:43.006] [info] Received new action goal ×2 + 3.57sINFOros2_control_node[2026-11-09 05:59:43.006] [info] Accepted new action goal ×2 + 5.96sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.05sINFOobjective_server_nodeFound path in 0 iterations (2.29e-07 s). ×2 + 6.06sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.08sINFOros2_control_node[2026-11-09 05:59:45.513] [info] Received new action goal ×2 + 6.08sINFOros2_control_node[2026-11-09 05:59:45.513] [info] Accepted new action goal ×2 | ||||
| − skipped | — | segment_point_cloud_from_text_prompt_subtree.xml | 0.0s | 3 warnings · 322 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1794203979.43597269 seconds ×3 + 0.01sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.01sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.01sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.56sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.56sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.56sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.56sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.56sINFOobjective_server_nodecaller: ×10 + 0.56sINFOobjective_server_nodetype: 0 ×10 + 0.56sINFOobjective_server_nodename: "" ×10 + 0.56sINFOobjective_server_nodeinstance_id: "" ×10 + 0.56sINFOobjective_server_node ×10 + 0.62sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1794203980.05339074 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.68sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1794203980.11356640 seconds ×3 + 0.99sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.28sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.34sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1794203980.77122474 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.35sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1794203980.78138709 seconds ×3 + 1.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.88sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1794203981.37230325 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.09sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1794203981.52283812 seconds ×3 + 2.69sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.69sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.75sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1794203982.18714046 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.77sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.77sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.78sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.78sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.78sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.587784 ms (missed cycles : 3). + 2.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.587784 ms (missed cycles : 3).[0m ×2 + 2.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1794203982.23731589 seconds ×3 + 3.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.34sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.44sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1794203982.87846088 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.45sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.46sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.46sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.46sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.46sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.46sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.46sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.46sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.46sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.55sINFOobjective_server_nodeFound path in 0 iterations (2.2142e-05 s). ×2 + 3.56sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.57sINFOros2_control_node[2026-11-09 05:59:43.006] [info] Received new action goal ×2 + 3.57sINFOros2_control_node[2026-11-09 05:59:43.006] [info] Accepted new action goal ×2 + 5.96sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.05sINFOobjective_server_nodeFound path in 0 iterations (2.29e-07 s). ×2 + 6.06sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.08sINFOros2_control_node[2026-11-09 05:59:45.513] [info] Received new action goal ×2 + 6.08sINFOros2_control_node[2026-11-09 05:59:45.513] [info] Accepted new action goal ×2 | ||||
| − skipped | — | visualize_segmented_point_cloud.xml | 0.0s | 3 warnings · 322 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1794203979.43597269 seconds ×3 + 0.01sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.01sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.01sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.56sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.56sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.56sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.56sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.56sINFOobjective_server_nodecaller: ×10 + 0.56sINFOobjective_server_nodetype: 0 ×10 + 0.56sINFOobjective_server_nodename: "" ×10 + 0.56sINFOobjective_server_nodeinstance_id: "" ×10 + 0.56sINFOobjective_server_node ×10 + 0.62sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1794203980.05339074 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.68sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1794203980.11356640 seconds ×3 + 0.99sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.28sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.34sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1794203980.77122474 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.35sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1794203980.78138709 seconds ×3 + 1.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.88sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1794203981.37230325 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.09sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1794203981.52283812 seconds ×3 + 2.69sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.69sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.75sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1794203982.18714046 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.77sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.77sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.78sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.78sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.78sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.587784 ms (missed cycles : 3). + 2.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.587784 ms (missed cycles : 3).[0m ×2 + 2.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1794203982.23731589 seconds ×3 + 3.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.34sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.44sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1794203982.87846088 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.45sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.46sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.46sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.46sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.46sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.46sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.46sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.46sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.46sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.55sINFOobjective_server_nodeFound path in 0 iterations (2.2142e-05 s). ×2 + 3.56sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.57sINFOros2_control_node[2026-11-09 05:59:43.006] [info] Received new action goal ×2 + 3.57sINFOros2_control_node[2026-11-09 05:59:43.006] [info] Accepted new action goal ×2 + 5.96sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.05sINFOobjective_server_nodeFound path in 0 iterations (2.29e-07 s). ×2 + 6.06sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.08sINFOros2_control_node[2026-11-09 05:59:45.513] [info] Received new action goal ×2 + 6.08sINFOros2_control_node[2026-11-09 05:59:45.513] [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 | 11.9s | 32 warnings · 767 info |
+ 0.00sINFOlaunchAll log files can be found below /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/lab_sim/test_results/lab_sim/ros_logs/2026-11-09-05-59-25-997510-a60fb302acb9-8267 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 0.66sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 0.67sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 0.67sINFOcontroller_managerupdate rate is 600 Hz + 0.67sINFOcontroller_managerOverruns handling is : enabled + 0.67sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 0.67sWARNcontroller_managerCould not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling. + 0.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.157869 ms (missed cycles : 2). + 0.90sINFOros2_control_node-1process started with pid [8315] ×2 + 0.90sINFOmove_group-9process started with pid [8366] ×2 + 0.90sINFOparameter_manager_node-10process started with pid [8367] ×2 + 0.90sINFOwaypoint_manager_node-11process started with pid [8368] ×2 + 0.90sINFOmove_joint_resampler_node-12process started with pid [8369] ×2 + 0.90sINFOmove_end_effector_resampler_node-13process started with pid [8370] ×2 + 0.90sINFOobjective_server_node_main-14process started with pid [8371] ×2 + 0.90sINFOcomponent_container_mt-15process started with pid [8372] ×2 + 0.91sINFOcomponent_container_mt-16process started with pid [8373] ×2 + 0.91sINFOexecute_objective_bridge-17process started with pid [8374] ×2 + 0.91sINFOui_teleop_bridge-18process started with pid [8375] ×2 + 0.91sINFOweb_bridge-19process started with pid [8376] ×2 + 0.91sINFOtf_visualization_relay-20process started with pid [8445] ×2 + 0.91sINFOjoint_state_visualization_relay-21process started with pid [8446] ×2 + 0.91sINFOtf2_web_republisher_node-22process started with pid [8448] ×2 + 0.91sINFOvideo_server-23process started with pid [8449] ×2 + 0.91sINFOweb_bridge_auth_proxy-24process started with pid [8451] ×2 + 0.91sINFOweb_video_auth_proxy-25process started with pid [8452] ×2 + 0.91sINFOros2-2process started with pid [8316] ×2 + 0.91sINFOros2-3process started with pid [8317] ×2 + 0.91sINFOros2-4process started with pid [8318] ×2 + 0.91sINFOros2-5process started with pid [8319] ×2 + 0.91sINFOros2-6process started with pid [8320] ×2 + 0.91sINFOros2-7process started with pid [8321] ×2 + 0.91sINFOros2-8process started with pid [8322] ×2 + 0.94sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 0.94sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 0.94sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 0.94sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 0.94sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 0.94sWARNros2_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 + 0.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.157869 ms (missed cycles : 2).[0m ×2 + 0.99sINFOcontroller_managerReceived robot description from topic. + 0.99sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 0.99sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 0.99sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 0.99sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 1.02sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 1.02sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 1.08sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 1.11sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 1.22sINFOvideo_server2026/11/09 05:59:27 INF MediaMTX v1.20.1, linux, amd64 ×2 + 1.22sINFOvideo_server2026/11/09 05:59:27 INF configuration loaded from /tmp/moveit-webrtc-qb4q_6p3/mediamtx.yml ×2 + 1.22sINFOvideo_server2026/11/09 05:59:27 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 + 1.22sINFOvideo_server2026/11/09 05:59:27 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 + 1.56sINFOspawner_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.56sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 1.87sINFOweb_video_auth_proxy2026-11-09 05:59:28,210 INFO moveit_studio_utils_py.tls: Generated MoveIt Pro self-signed TLS certificate at /github/home/.local/share/moveit_pro/tls/cert.pem ×2 + 1.87sINFOweb_video_auth_proxy2026-11-09 05:59:28,213 INFO auth_proxy: TLS auth proxy on 0.0.0.0:3202 -> 127.0.0.1:13202 ×2 + 1.88sINFOweb_bridge_auth_proxy2026-11-09 05:59:28,216 INFO auth_proxy: TLS auth proxy on 0.0.0.0:3201 -> 127.0.0.1:13201 ×2 + 1.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.251066 ms (missed cycles : 2). + 1.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.251066 ms (missed cycles : 2).[0m ×2 + 1.99sINFOmove_group[2026-11-09 05:59:28.332] [moveit_pro_license] [info] ×2 + 1.99sINFOmove_group************************************************* ×4 + 1.99sINFOmove_group* MoveIt Pro License ×2 + 1.99sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 2.08sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 2.08sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 2.08sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 2.08sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 2.09sINFOros2_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 + 2.09sINFOros2_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 + 2.29sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 2.34sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 2.34sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 2.34sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 2.34sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 2.35sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 2.35sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 2.35sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 2.41sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 2.50sINFOmove_group ×4 + 2.50sINFOmove_group[92mYou can start planning now![0m ×2 + 2.80sINFOwaypoint_manager_node[2026-11-09 05:59:29.137] [moveit_pro_license] [info] ×2 + 2.80sINFOwaypoint_manager_node************************************************* ×4 + 2.80sINFOwaypoint_manager_node* MoveIt Pro License ×2 + 2.80sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 2.90sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 3.30sINFOobjective_server_node[2026-11-09 05:59:29.641] [moveit_pro_license] [info] ×2 + 3.30sINFOobjective_server_node************************************************* ×4 + 3.30sINFOobjective_server_node* MoveIt Pro License ×2 + 3.30sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 3.31sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 3.42sINFOobjective_server_nodeWarning: class_loader.ClassLoader: SEVERE WARNING!!! Attempting to unload library while objects created by this loader exist in the heap! You should delete your objects before attempting to unload the library or destroying the ClassLoader. The library will NOT be unloaded. ×2 + 3.42sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 3.43sINFOobjective_server_nodeLoading 7 behavior loader plugin(s): ×2 + 3.43sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 3.43sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 3.43sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 3.43sINFOobjective_server_nodelab_sim_behaviors::LabSimBehaviorsLoader ×2 + 3.43sINFOobjective_server_nodemoveit_pro::behaviors::MPCBehaviorsLoader ×2 + 3.43sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 3.43sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 3.49sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 3.50sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 3.59sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 3.59sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 3.67sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/surface_coverage_accumulator' in container '/moveit_studio_point_cloud_container' ×2 + 4.06sWARNros2_control_nodeNo keyframe specified, applying first keyframe to set initial state.[0m ×2 + 4.06sINFOros2_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 + 4.06sWARNros2_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 + 4.06sINFOros2_control_nodebase: 0.0002 m, 3.1416 rad ×2 + 4.06sINFOros2_control_nodeshoulder_link: 0.0006 m, 3.1416 rad ×2 + 4.06sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 4.06sINFOros2_control_nodeupper_arm_link: 0.1380 m, 2.0944 rad ×2 + 4.06sINFOros2_control_nodeforearm_link: 0.0070 m, 2.0944 rad ×2 + 4.06sINFOros2_control_nodewrist_1_link: 0.1264 m, 1.5708 rad ×2 + 4.06sINFOros2_control_nodewrist_2_link: 0.1004 m, 0.0000 rad ×2 + 4.06sINFOros2_control_nodewrist_3_link: 0.1003 m, 1.5708 rad ×2 + 4.06sINFOros2_control_noderobotiq_85_base_link: 0.0073 m, 1.5708 rad ×2 + 4.06sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 4.06sINFOros2_control_noderobotiq_85_left_inner_knuckle_link: 0.0078 m, 1.5708 rad ×2 + 4.06sINFOros2_control_noderobotiq_85_left_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 4.06sINFOros2_control_noderobotiq_85_right_inner_knuckle_link: 0.0079 m, 1.5708 rad ×2 + 4.06sINFOros2_control_noderobotiq_85_right_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 4.06sINFOros2_control_noderobotiq_85_left_finger_link: 0.0076 m, 1.5708 rad ×2 + 4.06sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 4.06sINFOros2_control_noderobotiq_85_left_finger_tip_link: 0.1092 m, 2.0014 rad ×2 + 4.06sINFOros2_control_noderobotiq_85_right_finger_link: 0.0076 m, 1.5708 rad ×2 + 4.06sINFOros2_control_noderobotiq_85_right_finger_tip_link: 0.1096 m, 2.0014 rad[0m ×2 + 4.06sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 4.06sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 4.06sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 4.06sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 4.06sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 4.06sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 4.06sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 4.06sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 4.06sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 4.22sINFOcomponent_container_mt[2026-11-09 05:59:30.563] [moveit_pro_license] [info] ×2 + 4.22sINFOcomponent_container_mt************************************************* ×4 + 4.22sINFOcomponent_container_mt* MoveIt Pro License ×2 + 4.22sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 4.29sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 4.32sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 4.32sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 4.32sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 4.32sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.725831 ms (missed cycles : 2). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.725831 ms (missed cycles : 2).[0m ×2 + 4.44sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_c_k2zqay --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_6qznkhyz --params-file /tmp/launch_params_1nog0muh + 4.44sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_c_k2zqay --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_6qznkhyz --params-file /tmp/launch_params_1nog0muh [0m ×2 + 4.45sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 4.46sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 4.46sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 4.46sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 4.46sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 4.47sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 4.55sINFOros2_control_nodeTrying EGL candidate default display for offscreen camera rendering.[0m ×2 + 4.55sINFOros2_control_nodeTrying EGL candidate platform device 0 (software) for offscreen camera rendering.[0m ×2 + 4.55sINFOros2_control_node[2026-11-09 05:59:30.888] [info] Controller state will be published at 20 Hz. ×2 + 4.55sINFOros2_control_node[2026-11-09 05:59:30.889] [info] JointVelocityController 'on_configure' succeeded. ×2 + 4.58sINFOros2_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 + 4.58sINFOros2_control_nodeFell back to platform device 0 (software) after skipping: default display: eglInitialize failed: EGL_NOT_INITIALIZED (0x3001).[0m ×2 + 4.58sWARNros2_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 + 4.84sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 4.84sINFOcontroller_managerLoading controller 'velocity_force_controller' + 4.84sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 4.84sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 4.87sINFOros2-8process has finished cleanly [pid 8322] ×2 + 4.92sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_c_k2zqay --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_6qznkhyz --params-file /tmp/launch_params_1nog0muh + 4.92sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_c_k2zqay --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_6qznkhyz --params-file /tmp/launch_params_1nog0muh [0m ×2 + 4.96sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 4.96sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 4.97sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 4.97sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 5.01sINFOros2_control_node[2026-11-09 05:59:31.345] [info] Controller state will be published at 10 Hz. ×2 + 5.01sINFOros2_control_node[2026-11-09 05:59:31.346] [info] VelocityForceController 'on_configure' succeeded. ×2 + 5.30sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 5.30sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 5.30sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 5.30sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 5.30sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_c_k2zqay --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_6qznkhyz --params-file /tmp/launch_params_1nog0muh + 5.30sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_c_k2zqay --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_6qznkhyz --params-file /tmp/launch_params_1nog0muh [0m ×2 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.446618 ms (missed cycles : 2). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.446618 ms (missed cycles : 2).[0m ×2 + 5.34sINFOros2-7process has finished cleanly [pid 8321] ×2 + 5.34sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 5.34sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 5.35sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 5.35sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 5.35sINFOforce_torque_sensor_broadcasterconfigure successful + 5.35sINFOros2_control_nodeconfigure successful[0m ×2 + 5.35sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 5.35sINFOcontroller_managerSuccessfully switched controllers! ×16 + 5.35sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 5.35sINFOros2_control_nodeSuccessfully switched controllers![0m ×32 + 5.36sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 5.36sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 5.66sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 5.66sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 5.66sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 5.66sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 5.69sINFOros2-2process has finished cleanly [pid 8316] ×2 + 5.74sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_c_k2zqay --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_6qznkhyz --params-file /tmp/launch_params_1nog0muh + 5.74sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_c_k2zqay --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_6qznkhyz --params-file /tmp/launch_params_1nog0muh [0m ×2 + 5.78sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 5.78sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 5.78sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 5.78sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 5.78sINFOros2_control_node[2026-11-09 05:59:32.121] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 5.78sINFOros2_control_node[2026-11-09 05:59:32.121] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 5.81sINFOros2_control_node[2026-11-09 05:59:32.149] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 5.81sINFOros2_control_node[2026-11-09 05:59:32.149] [info] Controller state will be published at 50 Hz. ×2 + 5.82sINFOros2_control_node[2026-11-09 05:59:32.158] [info] Registered `FollowJointTrajectory` action server. ×2 + 6.11sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 6.11sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 6.11sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 6.11sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 6.11sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_c_k2zqay --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_6qznkhyz --params-file /tmp/launch_params_1nog0muh + 6.11sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_c_k2zqay --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_6qznkhyz --params-file /tmp/launch_params_1nog0muh [0m ×2 + 6.14sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 6.14sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 6.15sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 6.15sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 6.15sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 6.15sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 6.15sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 6.16sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 6.16sINFOros2-6process has finished cleanly [pid 8320] ×2 + 6.16sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 6.16sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 6.35sWARNobjective_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 + 6.39sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.267572 ms (missed cycles : 2). + 6.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.267572 ms (missed cycles : 2).[0m ×2 + 6.48sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 6.48sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 6.48sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 6.48sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 6.48sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_c_k2zqay --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_6qznkhyz --params-file /tmp/launch_params_1nog0muh + 6.48sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_c_k2zqay --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_6qznkhyz --params-file /tmp/launch_params_1nog0muh [0m ×2 + 6.49sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 6.50sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 6.50sINFOros2-4process has finished cleanly [pid 8318] ×2 + 6.52sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 6.52sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 6.52sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 6.52sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 6.52sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 6.52sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 6.52sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 6.52sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 6.53sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 6.53sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 6.84sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 6.84sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 6.84sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 6.84sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 6.85sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_c_k2zqay --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_6qznkhyz --params-file /tmp/launch_params_1nog0muh + 6.85sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_c_k2zqay --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_6qznkhyz --params-file /tmp/launch_params_1nog0muh [0m ×2 + 6.87sINFOros2-3process has finished cleanly [pid 8317] ×2 + 6.90sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 6.90sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 6.90sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 6.90sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 6.90sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 6.90sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 6.90sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 6.90sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 6.91sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 6.91sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 6.91sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 6.91sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 6.91sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 6.91sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 6.91sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.91sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.92sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 6.92sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 7.21sINFOros2-5process has finished cleanly [pid 8319] ×2 + 10.87sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 10.91sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 10.91sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 10.91sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 10.91sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 10.91sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 10.91sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 10.94sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 10.94sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 10.94sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 10.94sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 10.94sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 10.94sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 11.52sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 11.53sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 11.53sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 11.53sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 11.53sINFOobjective_server_nodeparameter_overrides: [] ×10 + 11.53sINFOobjective_server_nodecaller: ×10 + 11.53sINFOobjective_server_nodetype: 0 ×10 + 11.53sINFOobjective_server_nodename: "" ×10 + 11.53sINFOobjective_server_nodeinstance_id: "" ×10 + 11.53sINFOobjective_server_node ×10 + 11.59sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1794203977.92591429 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 11.60sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1794203977.93615651 seconds ×3 + 12.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.908582 ms (missed cycles : 2). + 12.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.908582 ms (missed cycles : 2).[0m ×2 + 12.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 12.13sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 12.19sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1794203978.52579641 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 12.19sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 12.19sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 13.10sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1794203979.43597269 seconds ×3 + 13.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 13.66sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 13.71sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1794203980.05339074 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 13.77sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1794203980.11356640 seconds ×3 + 14.08sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 14.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.38sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 14.43sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1794203980.77122474 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.44sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1794203980.78138709 seconds ×3 + 14.98sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.98sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 15.03sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1794203981.37230325 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.18sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1794203981.52283812 seconds ×3 | ||||
| ✓ passed | — | vector_subtrees_example.xml | 0.7s | 6 warnings · 397 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: 1794203977.92591429 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.07sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1794203977.93615651 seconds ×3 + 0.08sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.08sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.08sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.09sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.908582 ms (missed cycles : 2). + 0.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.908582 ms (missed cycles : 2).[0m ×2 + 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: 1794203978.52579641 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: 1794203979.43597269 seconds ×3 + 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: 1794203980.05339074 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.25sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1794203980.11356640 seconds ×3 + 2.56sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.85sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.91sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1794203980.77122474 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1794203980.78138709 seconds ×3 + 3.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.45sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.51sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1794203981.37230325 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.66sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1794203981.52283812 seconds ×3 + 4.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.26sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.32sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1794203982.18714046 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.34sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.34sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.35sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.35sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.35sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.587784 ms (missed cycles : 3). + 4.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.587784 ms (missed cycles : 3).[0m ×2 + 4.37sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1794203982.23731589 seconds ×3 + 4.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.91sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 5.01sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1794203982.87846088 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.03sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 5.03sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.03sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.03sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.03sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.03sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.03sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.03sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.13sINFOobjective_server_nodeFound path in 0 iterations (2.2142e-05 s). ×2 + 5.13sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 5.14sINFOros2_control_node[2026-11-09 05:59:43.006] [info] Received new action goal ×2 + 5.14sINFOros2_control_node[2026-11-09 05:59:43.006] [info] Accepted new action goal ×2 + 7.53sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 7.62sINFOobjective_server_nodeFound path in 0 iterations (2.29e-07 s). ×2 + 7.63sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 7.65sINFOros2_control_node[2026-11-09 05:59:45.513] [info] Received new action goal ×2 + 7.65sINFOros2_control_node[2026-11-09 05:59:45.513] [info] Accepted new action goal ×2 | ||||
| ✓ passed | — | reset_planning_scene.xml | 0.7s | 6 warnings · 413 info |
+ 0.00sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.04sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.04sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.04sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.04sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.04sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.04sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.04sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 0.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.07sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.07sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.65sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.65sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.65sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.65sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.66sINFOobjective_server_nodecaller: ×14 + 0.66sINFOobjective_server_nodetype: 0 ×14 + 0.66sINFOobjective_server_nodename: "" ×14 + 0.66sINFOobjective_server_nodeinstance_id: "" ×14 + 0.66sINFOobjective_server_node ×14 + 0.71sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1794203977.92591429 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.73sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1794203977.93615651 seconds ×3 + 1.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.908582 ms (missed cycles : 2). + 1.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.908582 ms (missed cycles : 2).[0m ×2 + 1.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.26sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.31sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1794203978.52579641 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.32sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.32sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.23sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1794203979.43597269 seconds ×3 + 2.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.79sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.84sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1794203980.05339074 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.90sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1794203980.11356640 seconds ×3 + 3.21sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.51sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.56sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1794203980.77122474 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1794203980.78138709 seconds ×3 + 4.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.11sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.16sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1794203981.37230325 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.31sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1794203981.52283812 seconds ×3 + 4.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.92sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.98sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1794203982.18714046 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.99sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.99sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.00sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.587784 ms (missed cycles : 3). + 5.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.587784 ms (missed cycles : 3).[0m ×2 + 5.03sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1794203982.23731589 seconds ×3 + 5.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.57sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 5.67sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1794203982.87846088 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.68sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 5.68sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.68sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.68sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.68sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.68sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.68sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.68sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.68sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.78sINFOobjective_server_nodeFound path in 0 iterations (2.2142e-05 s). ×2 + 5.78sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 5.80sINFOros2_control_node[2026-11-09 05:59:43.006] [info] Received new action goal ×2 + 5.80sINFOros2_control_node[2026-11-09 05:59:43.006] [info] Accepted new action goal ×2 | ||||
| − skipped | — | addtovector.xml | 0.0s | 9 warnings · 198 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/2026-11-09-05-59-25-997510-a60fb302acb9-8267 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 0.66sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 0.67sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 0.67sINFOcontroller_managerupdate rate is 600 Hz + 0.67sINFOcontroller_managerOverruns handling is : enabled + 0.67sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 0.67sWARNcontroller_managerCould not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling. + 0.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.157869 ms (missed cycles : 2). + 0.90sINFOros2_control_node-1process started with pid [8315] ×2 + 0.90sINFOmove_group-9process started with pid [8366] ×2 + 0.90sINFOparameter_manager_node-10process started with pid [8367] ×2 + 0.90sINFOwaypoint_manager_node-11process started with pid [8368] ×2 + 0.90sINFOmove_joint_resampler_node-12process started with pid [8369] ×2 + 0.90sINFOmove_end_effector_resampler_node-13process started with pid [8370] ×2 + 0.90sINFOobjective_server_node_main-14process started with pid [8371] ×2 + 0.90sINFOcomponent_container_mt-15process started with pid [8372] ×2 + 0.91sINFOcomponent_container_mt-16process started with pid [8373] ×2 + 0.91sINFOexecute_objective_bridge-17process started with pid [8374] ×2 + 0.91sINFOui_teleop_bridge-18process started with pid [8375] ×2 + 0.91sINFOweb_bridge-19process started with pid [8376] ×2 + 0.91sINFOtf_visualization_relay-20process started with pid [8445] ×2 + 0.91sINFOjoint_state_visualization_relay-21process started with pid [8446] ×2 + 0.91sINFOtf2_web_republisher_node-22process started with pid [8448] ×2 + 0.91sINFOvideo_server-23process started with pid [8449] ×2 + 0.91sINFOweb_bridge_auth_proxy-24process started with pid [8451] ×2 + 0.91sINFOweb_video_auth_proxy-25process started with pid [8452] ×2 + 0.91sINFOros2-2process started with pid [8316] ×2 + 0.91sINFOros2-3process started with pid [8317] ×2 + 0.91sINFOros2-4process started with pid [8318] ×2 + 0.91sINFOros2-5process started with pid [8319] ×2 + 0.91sINFOros2-6process started with pid [8320] ×2 + 0.91sINFOros2-7process started with pid [8321] ×2 + 0.91sINFOros2-8process started with pid [8322] ×2 + 0.94sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 0.94sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 0.94sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 0.94sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 0.94sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 0.94sWARNros2_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 + 0.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.157869 ms (missed cycles : 2).[0m ×2 + 0.99sINFOcontroller_managerReceived robot description from topic. + 0.99sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 0.99sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 0.99sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 0.99sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 1.02sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 1.02sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 1.08sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 1.11sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 1.22sINFOvideo_server2026/11/09 05:59:27 INF MediaMTX v1.20.1, linux, amd64 ×2 + 1.22sINFOvideo_server2026/11/09 05:59:27 INF configuration loaded from /tmp/moveit-webrtc-qb4q_6p3/mediamtx.yml ×2 + 1.22sINFOvideo_server2026/11/09 05:59:27 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 + 1.22sINFOvideo_server2026/11/09 05:59:27 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 + 1.56sINFOspawner_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.56sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 1.87sINFOweb_video_auth_proxy2026-11-09 05:59:28,210 INFO moveit_studio_utils_py.tls: Generated MoveIt Pro self-signed TLS certificate at /github/home/.local/share/moveit_pro/tls/cert.pem ×2 + 1.87sINFOweb_video_auth_proxy2026-11-09 05:59:28,213 INFO auth_proxy: TLS auth proxy on 0.0.0.0:3202 -> 127.0.0.1:13202 ×2 + 1.88sINFOweb_bridge_auth_proxy2026-11-09 05:59:28,216 INFO auth_proxy: TLS auth proxy on 0.0.0.0:3201 -> 127.0.0.1:13201 ×2 + 1.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.251066 ms (missed cycles : 2). + 1.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.251066 ms (missed cycles : 2).[0m ×2 + 1.99sINFOmove_group[2026-11-09 05:59:28.332] [moveit_pro_license] [info] ×2 + 1.99sINFOmove_group************************************************* ×4 + 1.99sINFOmove_group* MoveIt Pro License ×2 + 1.99sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 2.08sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 2.08sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 2.08sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 2.08sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 2.09sINFOros2_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 + 2.09sINFOros2_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 + 2.29sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 2.34sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 2.34sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 2.34sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 2.34sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 2.35sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 2.35sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 2.35sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 2.41sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 2.50sINFOmove_group ×4 + 2.50sINFOmove_group[92mYou can start planning now![0m ×2 + 2.80sINFOwaypoint_manager_node[2026-11-09 05:59:29.137] [moveit_pro_license] [info] ×2 + 2.80sINFOwaypoint_manager_node************************************************* ×4 + 2.80sINFOwaypoint_manager_node* MoveIt Pro License ×2 + 2.80sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 2.90sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 3.30sINFOobjective_server_node[2026-11-09 05:59:29.641] [moveit_pro_license] [info] ×2 + 3.30sINFOobjective_server_node************************************************* ×4 + 3.30sINFOobjective_server_node* MoveIt Pro License ×2 + 3.30sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 3.31sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 3.42sINFOobjective_server_nodeWarning: class_loader.ClassLoader: SEVERE WARNING!!! Attempting to unload library while objects created by this loader exist in the heap! You should delete your objects before attempting to unload the library or destroying the ClassLoader. The library will NOT be unloaded. ×2 + 3.42sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 3.43sINFOobjective_server_nodeLoading 7 behavior loader plugin(s): ×2 + 3.43sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 3.43sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 3.43sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 3.43sINFOobjective_server_nodelab_sim_behaviors::LabSimBehaviorsLoader ×2 + 3.43sINFOobjective_server_nodemoveit_pro::behaviors::MPCBehaviorsLoader ×2 + 3.43sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 3.43sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 3.49sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 3.50sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 3.59sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 3.59sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 3.67sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/surface_coverage_accumulator' in container '/moveit_studio_point_cloud_container' ×2 | ||||
| − skipped | — | convert_collisionobject_to_graspableobject.xml | 0.0s | 6 warnings · 413 info |
+ 0.00sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.04sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.04sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.04sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.04sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.04sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.04sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.04sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 0.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.07sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.07sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.65sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.65sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.65sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.65sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.66sINFOobjective_server_nodecaller: ×14 + 0.66sINFOobjective_server_nodetype: 0 ×14 + 0.66sINFOobjective_server_nodename: "" ×14 + 0.66sINFOobjective_server_nodeinstance_id: "" ×14 + 0.66sINFOobjective_server_node ×14 + 0.71sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1794203977.92591429 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.73sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1794203977.93615651 seconds ×3 + 1.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.908582 ms (missed cycles : 2). + 1.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.908582 ms (missed cycles : 2).[0m ×2 + 1.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.26sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.31sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1794203978.52579641 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.32sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.32sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.23sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1794203979.43597269 seconds ×3 + 2.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.79sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.84sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1794203980.05339074 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.90sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1794203980.11356640 seconds ×3 + 3.21sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.51sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.56sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1794203980.77122474 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1794203980.78138709 seconds ×3 + 4.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.11sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.16sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1794203981.37230325 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.31sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1794203981.52283812 seconds ×3 + 4.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.92sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.98sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1794203982.18714046 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.99sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.99sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.00sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.587784 ms (missed cycles : 3). + 5.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.587784 ms (missed cycles : 3).[0m ×2 + 5.03sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1794203982.23731589 seconds ×3 + 5.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.57sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 5.67sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1794203982.87846088 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.68sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 5.68sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.68sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.68sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.68sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.68sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.68sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.68sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.68sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.78sINFOobjective_server_nodeFound path in 0 iterations (2.2142e-05 s). ×2 + 5.78sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 5.80sINFOros2_control_node[2026-11-09 05:59:43.006] [info] Received new action goal ×2 + 5.80sINFOros2_control_node[2026-11-09 05:59:43.006] [info] Accepted new action goal ×2 | ||||
| − skipped | — | createvector.xml | 0.0s | 6 warnings · 413 info |
+ 0.00sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.04sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.04sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.04sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.04sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.04sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.04sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.04sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 0.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.07sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.07sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.65sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.65sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.65sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.65sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.66sINFOobjective_server_nodecaller: ×14 + 0.66sINFOobjective_server_nodetype: 0 ×14 + 0.66sINFOobjective_server_nodename: "" ×14 + 0.66sINFOobjective_server_nodeinstance_id: "" ×14 + 0.66sINFOobjective_server_node ×14 + 0.71sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1794203977.92591429 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.73sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1794203977.93615651 seconds ×3 + 1.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.908582 ms (missed cycles : 2). + 1.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.908582 ms (missed cycles : 2).[0m ×2 + 1.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.26sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.31sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1794203978.52579641 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.32sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.32sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.23sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1794203979.43597269 seconds ×3 + 2.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.79sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.84sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1794203980.05339074 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.90sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1794203980.11356640 seconds ×3 + 3.21sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.51sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.56sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1794203980.77122474 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1794203980.78138709 seconds ×3 + 4.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.11sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.16sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1794203981.37230325 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.31sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1794203981.52283812 seconds ×3 + 4.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.92sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.98sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1794203982.18714046 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.99sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.99sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.00sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.587784 ms (missed cycles : 3). + 5.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.587784 ms (missed cycles : 3).[0m ×2 + 5.03sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1794203982.23731589 seconds ×3 + 5.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.57sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 5.67sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1794203982.87846088 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.68sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 5.68sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.68sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.68sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.68sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.68sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.68sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.68sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.68sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.78sINFOobjective_server_nodeFound path in 0 iterations (2.2142e-05 s). ×2 + 5.78sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 5.80sINFOros2_control_node[2026-11-09 05:59:43.006] [info] Received new action goal ×2 + 5.80sINFOros2_control_node[2026-11-09 05:59:43.006] [info] Accepted new action goal ×2 | ||||
| − skipped | — | find_nearest_pose_in_path.xml | 0.0s | 6 warnings · 413 info |
+ 0.00sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.04sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.04sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.04sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.04sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.04sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.04sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.04sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 0.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.07sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.07sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.65sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.65sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.65sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.65sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.66sINFOobjective_server_nodecaller: ×14 + 0.66sINFOobjective_server_nodetype: 0 ×14 + 0.66sINFOobjective_server_nodename: "" ×14 + 0.66sINFOobjective_server_nodeinstance_id: "" ×14 + 0.66sINFOobjective_server_node ×14 + 0.71sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1794203977.92591429 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.73sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1794203977.93615651 seconds ×3 + 1.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.908582 ms (missed cycles : 2). + 1.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.908582 ms (missed cycles : 2).[0m ×2 + 1.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.26sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.31sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1794203978.52579641 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.32sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.32sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.23sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1794203979.43597269 seconds ×3 + 2.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.79sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.84sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1794203980.05339074 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.90sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1794203980.11356640 seconds ×3 + 3.21sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.51sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.56sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1794203980.77122474 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1794203980.78138709 seconds ×3 + 4.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.11sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.16sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1794203981.37230325 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.31sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1794203981.52283812 seconds ×3 + 4.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.92sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.98sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1794203982.18714046 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.99sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.99sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.00sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.587784 ms (missed cycles : 3). + 5.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.587784 ms (missed cycles : 3).[0m ×2 + 5.03sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1794203982.23731589 seconds ×3 + 5.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.57sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 5.67sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1794203982.87846088 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.68sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 5.68sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.68sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.68sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.68sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.68sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.68sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.68sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.68sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.78sINFOobjective_server_nodeFound path in 0 iterations (2.2142e-05 s). ×2 + 5.78sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 5.80sINFOros2_control_node[2026-11-09 05:59:43.006] [info] Received new action goal ×2 + 5.80sINFOros2_control_node[2026-11-09 05:59:43.006] [info] Accepted new action goal ×2 | ||||
| − skipped | — | request_teleoperation.xml | 0.0s | 6 warnings · 413 info |
+ 0.00sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.04sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.04sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.04sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.04sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.04sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.04sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.04sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 0.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.07sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.07sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.65sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.65sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.65sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.65sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.66sINFOobjective_server_nodecaller: ×14 + 0.66sINFOobjective_server_nodetype: 0 ×14 + 0.66sINFOobjective_server_nodename: "" ×14 + 0.66sINFOobjective_server_nodeinstance_id: "" ×14 + 0.66sINFOobjective_server_node ×14 + 0.71sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1794203977.92591429 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.73sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1794203977.93615651 seconds ×3 + 1.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.908582 ms (missed cycles : 2). + 1.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.908582 ms (missed cycles : 2).[0m ×2 + 1.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.26sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.31sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1794203978.52579641 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.32sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.32sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.23sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1794203979.43597269 seconds ×3 + 2.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.79sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.84sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1794203980.05339074 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.90sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1794203980.11356640 seconds ×3 + 3.21sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.51sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.56sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1794203980.77122474 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1794203980.78138709 seconds ×3 + 4.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.11sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.16sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1794203981.37230325 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.31sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1794203981.52283812 seconds ×3 + 4.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.92sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.98sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1794203982.18714046 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.99sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.99sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.00sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.587784 ms (missed cycles : 3). + 5.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.587784 ms (missed cycles : 3).[0m ×2 + 5.03sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1794203982.23731589 seconds ×3 + 5.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.57sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 5.67sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1794203982.87846088 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.68sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 5.68sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.68sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.68sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.68sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.68sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.68sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.68sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.68sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.78sINFOobjective_server_nodeFound path in 0 iterations (2.2142e-05 s). ×2 + 5.78sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 5.80sINFOros2_control_node[2026-11-09 05:59:43.006] [info] Received new action goal ×2 + 5.80sINFOros2_control_node[2026-11-09 05:59:43.006] [info] Accepted new action goal ×2 | ||||
| − skipped | — | teleoperate.xml | 0.0s | 6 warnings · 383 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.06sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1794203977.92591429 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.07sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1794203977.93615651 seconds ×3 + 0.08sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.08sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.08sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.09sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.908582 ms (missed cycles : 2). + 0.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.908582 ms (missed cycles : 2).[0m ×2 + 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: 1794203978.52579641 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: 1794203979.43597269 seconds ×3 + 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: 1794203980.05339074 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.25sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1794203980.11356640 seconds ×3 + 2.56sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.85sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.91sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1794203980.77122474 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1794203980.78138709 seconds ×3 + 3.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.45sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.51sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1794203981.37230325 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.66sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1794203981.52283812 seconds ×3 + 4.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.26sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.32sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1794203982.18714046 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.34sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.34sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.35sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.35sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.35sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.587784 ms (missed cycles : 3). + 4.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.587784 ms (missed cycles : 3).[0m ×2 + 4.37sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1794203982.23731589 seconds ×3 + 4.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.91sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 5.01sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1794203982.87846088 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.03sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 5.03sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.03sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.03sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.03sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.03sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.03sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.03sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.13sINFOobjective_server_nodeFound path in 0 iterations (2.2142e-05 s). ×2 + 5.13sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 5.14sINFOros2_control_node[2026-11-09 05:59:43.006] [info] Received new action goal ×2 + 5.14sINFOros2_control_node[2026-11-09 05:59:43.006] [info] Accepted new action goal ×2 | ||||
| − skipped | — | wait_for_joint_trajectory_approval.xml | 0.0s | 3 warnings · 322 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1794203979.43597269 seconds ×3 + 0.01sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.01sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.01sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.56sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.56sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.56sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.56sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.56sINFOobjective_server_nodecaller: ×10 + 0.56sINFOobjective_server_nodetype: 0 ×10 + 0.56sINFOobjective_server_nodename: "" ×10 + 0.56sINFOobjective_server_nodeinstance_id: "" ×10 + 0.56sINFOobjective_server_node ×10 + 0.62sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1794203980.05339074 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.68sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1794203980.11356640 seconds ×3 + 0.99sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.28sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.34sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1794203980.77122474 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.35sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1794203980.78138709 seconds ×3 + 1.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.88sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1794203981.37230325 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.09sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1794203981.52283812 seconds ×3 + 2.69sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.69sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.75sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1794203982.18714046 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.77sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.77sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.78sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.78sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.78sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.587784 ms (missed cycles : 3). + 2.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.587784 ms (missed cycles : 3).[0m ×2 + 2.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1794203982.23731589 seconds ×3 + 3.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.34sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.44sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1794203982.87846088 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.45sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.46sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.46sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.46sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.46sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.46sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.46sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.46sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.46sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.55sINFOobjective_server_nodeFound path in 0 iterations (2.2142e-05 s). ×2 + 3.56sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.57sINFOros2_control_node[2026-11-09 05:59:43.006] [info] Received new action goal ×2 + 3.57sINFOros2_control_node[2026-11-09 05:59:43.006] [info] Accepted new action goal ×2 + 5.96sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.05sINFOobjective_server_nodeFound path in 0 iterations (2.29e-07 s). ×2 + 6.06sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.08sINFOros2_control_node[2026-11-09 05:59:45.513] [info] Received new action goal ×2 + 6.08sINFOros2_control_node[2026-11-09 05:59:45.513] [info] Accepted new action goal ×2 | ||||
| − skipped | — | wait_for_trajectory_approval_if_user_available.xml | 0.0s | 3 warnings · 322 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1794203979.43597269 seconds ×3 + 0.01sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.01sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.01sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.56sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.56sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.56sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.56sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.56sINFOobjective_server_nodecaller: ×10 + 0.56sINFOobjective_server_nodetype: 0 ×10 + 0.56sINFOobjective_server_nodename: "" ×10 + 0.56sINFOobjective_server_nodeinstance_id: "" ×10 + 0.56sINFOobjective_server_node ×10 + 0.62sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1794203980.05339074 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.68sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1794203980.11356640 seconds ×3 + 0.99sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.28sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.34sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1794203980.77122474 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.35sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1794203980.78138709 seconds ×3 + 1.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.88sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1794203981.37230325 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.09sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1794203981.52283812 seconds ×3 + 2.69sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.69sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.75sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1794203982.18714046 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.77sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.77sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.78sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.78sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.78sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.587784 ms (missed cycles : 3). + 2.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.587784 ms (missed cycles : 3).[0m ×2 + 2.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1794203982.23731589 seconds ×3 + 3.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.34sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.44sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1794203982.87846088 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.45sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.46sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.46sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.46sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.46sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.46sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.46sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.46sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.46sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.55sINFOobjective_server_nodeFound path in 0 iterations (2.2142e-05 s). ×2 + 3.56sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.57sINFOros2_control_node[2026-11-09 05:59:43.006] [info] Received new action goal ×2 + 3.57sINFOros2_control_node[2026-11-09 05:59:43.006] [info] Accepted new action goal ×2 + 5.96sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.05sINFOobjective_server_nodeFound path in 0 iterations (2.29e-07 s). ×2 + 6.06sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.08sINFOros2_control_node[2026-11-09 05:59:45.513] [info] Received new action goal ×2 + 6.08sINFOros2_control_node[2026-11-09 05:59:45.513] [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 · 322 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1794203979.43597269 seconds ×3 + 0.01sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.01sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.01sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.56sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.56sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.56sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.56sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.56sINFOobjective_server_nodecaller: ×10 + 0.56sINFOobjective_server_nodetype: 0 ×10 + 0.56sINFOobjective_server_nodename: "" ×10 + 0.56sINFOobjective_server_nodeinstance_id: "" ×10 + 0.56sINFOobjective_server_node ×10 + 0.62sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1794203980.05339074 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.68sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1794203980.11356640 seconds ×3 + 0.99sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.28sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.34sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1794203980.77122474 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.35sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1794203980.78138709 seconds ×3 + 1.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.88sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1794203981.37230325 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.09sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1794203981.52283812 seconds ×3 + 2.69sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.69sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.75sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1794203982.18714046 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.77sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.77sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.78sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.78sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.78sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.587784 ms (missed cycles : 3). + 2.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.587784 ms (missed cycles : 3).[0m ×2 + 2.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1794203982.23731589 seconds ×3 + 3.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.34sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.44sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1794203982.87846088 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.45sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.46sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.46sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.46sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.46sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.46sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.46sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.46sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.46sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.55sINFOobjective_server_nodeFound path in 0 iterations (2.2142e-05 s). ×2 + 3.56sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.57sINFOros2_control_node[2026-11-09 05:59:43.006] [info] Received new action goal ×2 + 3.57sINFOros2_control_node[2026-11-09 05:59:43.006] [info] Accepted new action goal ×2 + 5.96sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.05sINFOobjective_server_nodeFound path in 0 iterations (2.29e-07 s). ×2 + 6.06sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.08sINFOros2_control_node[2026-11-09 05:59:45.513] [info] Received new action goal ×2 + 6.08sINFOros2_control_node[2026-11-09 05:59:45.513] [info] Accepted new action goal ×2 | ||||
| − skipped | — | execute_mtc_solution_jtc.xml | 0.0s | 3 warnings · 322 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1794203979.43597269 seconds ×3 + 0.01sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.01sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.01sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.56sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.56sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.56sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.56sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.56sINFOobjective_server_nodecaller: ×10 + 0.56sINFOobjective_server_nodetype: 0 ×10 + 0.56sINFOobjective_server_nodename: "" ×10 + 0.56sINFOobjective_server_nodeinstance_id: "" ×10 + 0.56sINFOobjective_server_node ×10 + 0.62sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1794203980.05339074 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.68sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1794203980.11356640 seconds ×3 + 0.99sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.28sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.34sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1794203980.77122474 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.35sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1794203980.78138709 seconds ×3 + 1.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.88sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1794203981.37230325 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.09sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1794203981.52283812 seconds ×3 + 2.69sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.69sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.75sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1794203982.18714046 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.77sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.77sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.78sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.78sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.78sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.587784 ms (missed cycles : 3). + 2.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.587784 ms (missed cycles : 3).[0m ×2 + 2.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1794203982.23731589 seconds ×3 + 3.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.34sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.44sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1794203982.87846088 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.45sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.46sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.46sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.46sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.46sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.46sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.46sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.46sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.46sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.55sINFOobjective_server_nodeFound path in 0 iterations (2.2142e-05 s). ×2 + 3.56sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.57sINFOros2_control_node[2026-11-09 05:59:43.006] [info] Received new action goal ×2 + 3.57sINFOros2_control_node[2026-11-09 05:59:43.006] [info] Accepted new action goal ×2 + 5.96sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.05sINFOobjective_server_nodeFound path in 0 iterations (2.29e-07 s). ×2 + 6.06sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.08sINFOros2_control_node[2026-11-09 05:59:45.513] [info] Received new action goal ×2 + 6.08sINFOros2_control_node[2026-11-09 05:59:45.513] [info] Accepted new action goal ×2 | ||||
| − skipped | — | interpolate_to_joint_state.xml | 0.0s | 3 warnings · 322 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1794203979.43597269 seconds ×3 + 0.01sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.01sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.01sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.56sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.56sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.56sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.56sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.56sINFOobjective_server_nodecaller: ×10 + 0.56sINFOobjective_server_nodetype: 0 ×10 + 0.56sINFOobjective_server_nodename: "" ×10 + 0.56sINFOobjective_server_nodeinstance_id: "" ×10 + 0.56sINFOobjective_server_node ×10 + 0.62sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1794203980.05339074 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.68sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1794203980.11356640 seconds ×3 + 0.99sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.28sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.34sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1794203980.77122474 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.35sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1794203980.78138709 seconds ×3 + 1.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.88sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1794203981.37230325 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.09sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1794203981.52283812 seconds ×3 + 2.69sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.69sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.75sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1794203982.18714046 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.77sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.77sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.78sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.78sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.78sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.587784 ms (missed cycles : 3). + 2.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.587784 ms (missed cycles : 3).[0m ×2 + 2.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1794203982.23731589 seconds ×3 + 3.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.34sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.44sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1794203982.87846088 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.45sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.46sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.46sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.46sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.46sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.46sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.46sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.46sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.46sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.55sINFOobjective_server_nodeFound path in 0 iterations (2.2142e-05 s). ×2 + 3.56sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.57sINFOros2_control_node[2026-11-09 05:59:43.006] [info] Received new action goal ×2 + 3.57sINFOros2_control_node[2026-11-09 05:59:43.006] [info] Accepted new action goal ×2 + 5.96sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.05sINFOobjective_server_nodeFound path in 0 iterations (2.29e-07 s). ×2 + 6.06sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.08sINFOros2_control_node[2026-11-09 05:59:45.513] [info] Received new action goal ×2 + 6.08sINFOros2_control_node[2026-11-09 05:59:45.513] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_cartesian_pose.xml | 0.0s | 3 warnings · 322 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1794203979.43597269 seconds ×3 + 0.01sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.01sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.01sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.56sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.56sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.56sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.56sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.56sINFOobjective_server_nodecaller: ×10 + 0.56sINFOobjective_server_nodetype: 0 ×10 + 0.56sINFOobjective_server_nodename: "" ×10 + 0.56sINFOobjective_server_nodeinstance_id: "" ×10 + 0.56sINFOobjective_server_node ×10 + 0.62sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1794203980.05339074 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.68sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1794203980.11356640 seconds ×3 + 0.99sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.28sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.34sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1794203980.77122474 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.35sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1794203980.78138709 seconds ×3 + 1.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.88sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1794203981.37230325 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.09sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1794203981.52283812 seconds ×3 + 2.69sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.69sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.75sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1794203982.18714046 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.77sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.77sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.78sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.78sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.78sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.587784 ms (missed cycles : 3). + 2.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.587784 ms (missed cycles : 3).[0m ×2 + 2.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1794203982.23731589 seconds ×3 + 3.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.34sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.44sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1794203982.87846088 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.45sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.46sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.46sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.46sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.46sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.46sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.46sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.46sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.46sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.55sINFOobjective_server_nodeFound path in 0 iterations (2.2142e-05 s). ×2 + 3.56sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.57sINFOros2_control_node[2026-11-09 05:59:43.006] [info] Received new action goal ×2 + 3.57sINFOros2_control_node[2026-11-09 05:59:43.006] [info] Accepted new action goal ×2 + 5.96sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.05sINFOobjective_server_nodeFound path in 0 iterations (2.29e-07 s). ×2 + 6.06sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.08sINFOros2_control_node[2026-11-09 05:59:45.513] [info] Received new action goal ×2 + 6.08sINFOros2_control_node[2026-11-09 05:59:45.513] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_cartesian_pose_jtc.xml | 0.0s | 3 warnings · 322 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1794203979.43597269 seconds ×3 + 0.01sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.01sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.01sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.56sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.56sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.56sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.56sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.56sINFOobjective_server_nodecaller: ×10 + 0.56sINFOobjective_server_nodetype: 0 ×10 + 0.56sINFOobjective_server_nodename: "" ×10 + 0.56sINFOobjective_server_nodeinstance_id: "" ×10 + 0.56sINFOobjective_server_node ×10 + 0.62sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1794203980.05339074 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.68sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1794203980.11356640 seconds ×3 + 0.99sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.28sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.34sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1794203980.77122474 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.35sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1794203980.78138709 seconds ×3 + 1.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.88sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1794203981.37230325 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.09sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1794203981.52283812 seconds ×3 + 2.69sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.69sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.75sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1794203982.18714046 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.77sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.77sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.78sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.78sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.78sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.587784 ms (missed cycles : 3). + 2.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.587784 ms (missed cycles : 3).[0m ×2 + 2.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1794203982.23731589 seconds ×3 + 3.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.34sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.44sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1794203982.87846088 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.45sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.46sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.46sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.46sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.46sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.46sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.46sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.46sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.46sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.55sINFOobjective_server_nodeFound path in 0 iterations (2.2142e-05 s). ×2 + 3.56sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.57sINFOros2_control_node[2026-11-09 05:59:43.006] [info] Received new action goal ×2 + 3.57sINFOros2_control_node[2026-11-09 05:59:43.006] [info] Accepted new action goal ×2 + 5.96sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.05sINFOobjective_server_nodeFound path in 0 iterations (2.29e-07 s). ×2 + 6.06sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.08sINFOros2_control_node[2026-11-09 05:59:45.513] [info] Received new action goal ×2 + 6.08sINFOros2_control_node[2026-11-09 05:59:45.513] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_joint_state.xml | 0.0s | 3 warnings · 322 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1794203979.43597269 seconds ×3 + 0.01sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.01sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.01sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.56sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.56sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.56sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.56sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.56sINFOobjective_server_nodecaller: ×10 + 0.56sINFOobjective_server_nodetype: 0 ×10 + 0.56sINFOobjective_server_nodename: "" ×10 + 0.56sINFOobjective_server_nodeinstance_id: "" ×10 + 0.56sINFOobjective_server_node ×10 + 0.62sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1794203980.05339074 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.68sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1794203980.11356640 seconds ×3 + 0.99sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.28sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.34sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1794203980.77122474 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.35sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1794203980.78138709 seconds ×3 + 1.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.88sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1794203981.37230325 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.09sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1794203981.52283812 seconds ×3 + 2.69sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.69sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.75sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1794203982.18714046 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.77sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.77sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.78sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.78sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.78sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.587784 ms (missed cycles : 3). + 2.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.587784 ms (missed cycles : 3).[0m ×2 + 2.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1794203982.23731589 seconds ×3 + 3.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.34sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.44sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1794203982.87846088 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.45sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.46sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.46sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.46sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.46sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.46sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.46sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.46sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.46sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.55sINFOobjective_server_nodeFound path in 0 iterations (2.2142e-05 s). ×2 + 3.56sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.57sINFOros2_control_node[2026-11-09 05:59:43.006] [info] Received new action goal ×2 + 3.57sINFOros2_control_node[2026-11-09 05:59:43.006] [info] Accepted new action goal ×2 + 5.96sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.05sINFOobjective_server_nodeFound path in 0 iterations (2.29e-07 s). ×2 + 6.06sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.08sINFOros2_control_node[2026-11-09 05:59:45.513] [info] Received new action goal ×2 + 6.08sINFOros2_control_node[2026-11-09 05:59:45.513] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_named_waypoint.xml | 0.0s | 3 warnings · 322 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1794203979.43597269 seconds ×3 + 0.01sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.01sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.01sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.56sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.56sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.56sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.56sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.56sINFOobjective_server_nodecaller: ×10 + 0.56sINFOobjective_server_nodetype: 0 ×10 + 0.56sINFOobjective_server_nodename: "" ×10 + 0.56sINFOobjective_server_nodeinstance_id: "" ×10 + 0.56sINFOobjective_server_node ×10 + 0.62sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1794203980.05339074 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.68sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1794203980.11356640 seconds ×3 + 0.99sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.28sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.34sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1794203980.77122474 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.35sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1794203980.78138709 seconds ×3 + 1.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.88sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1794203981.37230325 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.09sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1794203981.52283812 seconds ×3 + 2.69sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.69sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.75sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1794203982.18714046 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.77sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.77sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.78sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.78sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.78sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.587784 ms (missed cycles : 3). + 2.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.587784 ms (missed cycles : 3).[0m ×2 + 2.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1794203982.23731589 seconds ×3 + 3.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.34sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.44sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1794203982.87846088 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.45sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.46sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.46sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.46sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.46sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.46sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.46sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.46sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.46sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.55sINFOobjective_server_nodeFound path in 0 iterations (2.2142e-05 s). ×2 + 3.56sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.57sINFOros2_control_node[2026-11-09 05:59:43.006] [info] Received new action goal ×2 + 3.57sINFOros2_control_node[2026-11-09 05:59:43.006] [info] Accepted new action goal ×2 + 5.96sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.05sINFOobjective_server_nodeFound path in 0 iterations (2.29e-07 s). ×2 + 6.06sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.08sINFOros2_control_node[2026-11-09 05:59:45.513] [info] Received new action goal ×2 + 6.08sINFOros2_control_node[2026-11-09 05:59:45.513] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_named_waypoint_jtc.xml | 0.0s | 3 warnings · 322 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1794203979.43597269 seconds ×3 + 0.01sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.01sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.01sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.56sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.56sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.56sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.56sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.56sINFOobjective_server_nodecaller: ×10 + 0.56sINFOobjective_server_nodetype: 0 ×10 + 0.56sINFOobjective_server_nodename: "" ×10 + 0.56sINFOobjective_server_nodeinstance_id: "" ×10 + 0.56sINFOobjective_server_node ×10 + 0.62sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1794203980.05339074 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.68sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1794203980.11356640 seconds ×3 + 0.99sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.28sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.34sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1794203980.77122474 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.35sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1794203980.78138709 seconds ×3 + 1.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.88sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1794203981.37230325 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.09sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1794203981.52283812 seconds ×3 + 2.69sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.69sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.75sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1794203982.18714046 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.77sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.77sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.78sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.78sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.78sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.587784 ms (missed cycles : 3). + 2.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.587784 ms (missed cycles : 3).[0m ×2 + 2.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1794203982.23731589 seconds ×3 + 3.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.34sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.44sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1794203982.87846088 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.45sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.46sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.46sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.46sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.46sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.46sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.46sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.46sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.46sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.55sINFOobjective_server_nodeFound path in 0 iterations (2.2142e-05 s). ×2 + 3.56sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.57sINFOros2_control_node[2026-11-09 05:59:43.006] [info] Received new action goal ×2 + 3.57sINFOros2_control_node[2026-11-09 05:59:43.006] [info] Accepted new action goal ×2 + 5.96sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.05sINFOobjective_server_nodeFound path in 0 iterations (2.29e-07 s). ×2 + 6.06sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.08sINFOros2_control_node[2026-11-09 05:59:45.513] [info] Received new action goal ×2 + 6.08sINFOros2_control_node[2026-11-09 05:59:45.513] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_pose.xml | 0.0s | 3 warnings · 322 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1794203979.43597269 seconds ×3 + 0.01sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.01sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.01sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.56sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.56sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.56sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.56sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.56sINFOobjective_server_nodecaller: ×10 + 0.56sINFOobjective_server_nodetype: 0 ×10 + 0.56sINFOobjective_server_nodename: "" ×10 + 0.56sINFOobjective_server_nodeinstance_id: "" ×10 + 0.56sINFOobjective_server_node ×10 + 0.62sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1794203980.05339074 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.68sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1794203980.11356640 seconds ×3 + 0.99sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.28sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.34sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1794203980.77122474 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.35sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1794203980.78138709 seconds ×3 + 1.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.88sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1794203981.37230325 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.09sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1794203981.52283812 seconds ×3 + 2.69sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.69sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.75sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1794203982.18714046 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.77sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.77sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.78sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.78sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.78sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.587784 ms (missed cycles : 3). + 2.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.587784 ms (missed cycles : 3).[0m ×2 + 2.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1794203982.23731589 seconds ×3 + 3.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.34sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.44sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1794203982.87846088 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.45sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.46sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.46sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.46sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.46sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.46sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.46sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.46sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.46sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.55sINFOobjective_server_nodeFound path in 0 iterations (2.2142e-05 s). ×2 + 3.56sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.57sINFOros2_control_node[2026-11-09 05:59:43.006] [info] Received new action goal ×2 + 3.57sINFOros2_control_node[2026-11-09 05:59:43.006] [info] Accepted new action goal ×2 + 5.96sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.05sINFOobjective_server_nodeFound path in 0 iterations (2.29e-07 s). ×2 + 6.06sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.08sINFOros2_control_node[2026-11-09 05:59:45.513] [info] Received new action goal ×2 + 6.08sINFOros2_control_node[2026-11-09 05:59:45.513] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_pose_jtc.xml | 0.0s | 3 warnings · 322 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1794203979.43597269 seconds ×3 + 0.01sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.01sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.01sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.56sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.56sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.56sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.56sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.56sINFOobjective_server_nodecaller: ×10 + 0.56sINFOobjective_server_nodetype: 0 ×10 + 0.56sINFOobjective_server_nodename: "" ×10 + 0.56sINFOobjective_server_nodeinstance_id: "" ×10 + 0.56sINFOobjective_server_node ×10 + 0.62sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1794203980.05339074 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.68sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1794203980.11356640 seconds ×3 + 0.99sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.28sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.34sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1794203980.77122474 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.35sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1794203980.78138709 seconds ×3 + 1.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.88sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1794203981.37230325 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.09sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1794203981.52283812 seconds ×3 + 2.69sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.69sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.75sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1794203982.18714046 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.77sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.77sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.78sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.78sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.78sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.587784 ms (missed cycles : 3). + 2.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.587784 ms (missed cycles : 3).[0m ×2 + 2.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1794203982.23731589 seconds ×3 + 3.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.34sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.44sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1794203982.87846088 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.45sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.46sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.46sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.46sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.46sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.46sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.46sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.46sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.46sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.55sINFOobjective_server_nodeFound path in 0 iterations (2.2142e-05 s). ×2 + 3.56sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.57sINFOros2_control_node[2026-11-09 05:59:43.006] [info] Received new action goal ×2 + 3.57sINFOros2_control_node[2026-11-09 05:59:43.006] [info] Accepted new action goal ×2 + 5.96sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.05sINFOobjective_server_nodeFound path in 0 iterations (2.29e-07 s). ×2 + 6.06sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.08sINFOros2_control_node[2026-11-09 05:59:45.513] [info] Received new action goal ×2 + 6.08sINFOros2_control_node[2026-11-09 05:59:45.513] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_waypoint.xml | 0.0s | 3 warnings · 322 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1794203979.43597269 seconds ×3 + 0.01sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.01sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.01sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.56sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.56sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.56sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.56sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.56sINFOobjective_server_nodecaller: ×10 + 0.56sINFOobjective_server_nodetype: 0 ×10 + 0.56sINFOobjective_server_nodename: "" ×10 + 0.56sINFOobjective_server_nodeinstance_id: "" ×10 + 0.56sINFOobjective_server_node ×10 + 0.62sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1794203980.05339074 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.68sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1794203980.11356640 seconds ×3 + 0.99sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.28sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.34sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1794203980.77122474 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.35sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1794203980.78138709 seconds ×3 + 1.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.88sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1794203981.37230325 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.09sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1794203981.52283812 seconds ×3 + 2.69sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.69sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.75sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1794203982.18714046 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.77sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.77sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.78sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.78sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.78sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.587784 ms (missed cycles : 3). + 2.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.587784 ms (missed cycles : 3).[0m ×2 + 2.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1794203982.23731589 seconds ×3 + 3.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.34sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.44sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1794203982.87846088 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.45sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.46sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.46sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.46sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.46sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.46sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.46sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.46sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.46sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.55sINFOobjective_server_nodeFound path in 0 iterations (2.2142e-05 s). ×2 + 3.56sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.57sINFOros2_control_node[2026-11-09 05:59:43.006] [info] Received new action goal ×2 + 3.57sINFOros2_control_node[2026-11-09 05:59:43.006] [info] Accepted new action goal ×2 + 5.96sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.05sINFOobjective_server_nodeFound path in 0 iterations (2.29e-07 s). ×2 + 6.06sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.08sINFOros2_control_node[2026-11-09 05:59:45.513] [info] Received new action goal ×2 + 6.08sINFOros2_control_node[2026-11-09 05:59:45.513] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_waypoint_jtc.xml | 0.0s | 3 warnings · 322 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1794203979.43597269 seconds ×3 + 0.01sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.01sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.01sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.56sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.56sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.56sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.56sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.56sINFOobjective_server_nodecaller: ×10 + 0.56sINFOobjective_server_nodetype: 0 ×10 + 0.56sINFOobjective_server_nodename: "" ×10 + 0.56sINFOobjective_server_nodeinstance_id: "" ×10 + 0.56sINFOobjective_server_node ×10 + 0.62sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1794203980.05339074 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.68sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1794203980.11356640 seconds ×3 + 0.99sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.28sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.34sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1794203980.77122474 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.35sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1794203980.78138709 seconds ×3 + 1.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.88sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1794203981.37230325 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.09sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1794203981.52283812 seconds ×3 + 2.69sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.69sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.75sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1794203982.18714046 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.77sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.77sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.78sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.78sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.78sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.587784 ms (missed cycles : 3). + 2.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.587784 ms (missed cycles : 3).[0m ×2 + 2.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1794203982.23731589 seconds ×3 + 3.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.34sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.44sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1794203982.87846088 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.45sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.46sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.46sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.46sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.46sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.46sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.46sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.46sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.46sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.55sINFOobjective_server_nodeFound path in 0 iterations (2.2142e-05 s). ×2 + 3.56sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.57sINFOros2_control_node[2026-11-09 05:59:43.006] [info] Received new action goal ×2 + 3.57sINFOros2_control_node[2026-11-09 05:59:43.006] [info] Accepted new action goal ×2 + 5.96sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.05sINFOobjective_server_nodeFound path in 0 iterations (2.29e-07 s). ×2 + 6.06sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.08sINFOros2_control_node[2026-11-09 05:59:45.513] [info] Received new action goal ×2 + 6.08sINFOros2_control_node[2026-11-09 05:59:45.513] [info] Accepted new action goal ×2 | ||||
| − skipped | — | plan_path_with_mtc.xml | 0.0s | 3 warnings · 322 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1794203979.43597269 seconds ×3 + 0.01sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.01sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.01sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.56sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.56sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.56sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.56sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.56sINFOobjective_server_nodecaller: ×10 + 0.56sINFOobjective_server_nodetype: 0 ×10 + 0.56sINFOobjective_server_nodename: "" ×10 + 0.56sINFOobjective_server_nodeinstance_id: "" ×10 + 0.56sINFOobjective_server_node ×10 + 0.62sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1794203980.05339074 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.68sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1794203980.11356640 seconds ×3 + 0.99sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.28sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.34sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1794203980.77122474 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.35sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1794203980.78138709 seconds ×3 + 1.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.88sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1794203981.37230325 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.09sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1794203981.52283812 seconds ×3 + 2.69sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.69sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.75sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1794203982.18714046 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.77sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.77sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.78sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.78sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.78sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.587784 ms (missed cycles : 3). + 2.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.587784 ms (missed cycles : 3).[0m ×2 + 2.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1794203982.23731589 seconds ×3 + 3.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.34sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.44sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1794203982.87846088 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.45sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.46sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.46sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.46sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.46sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.46sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.46sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.46sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.46sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.55sINFOobjective_server_nodeFound path in 0 iterations (2.2142e-05 s). ×2 + 3.56sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.57sINFOros2_control_node[2026-11-09 05:59:43.006] [info] Received new action goal ×2 + 3.57sINFOros2_control_node[2026-11-09 05:59:43.006] [info] Accepted new action goal ×2 + 5.96sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.05sINFOobjective_server_nodeFound path in 0 iterations (2.29e-07 s). ×2 + 6.06sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.08sINFOros2_control_node[2026-11-09 05:59:45.513] [info] Received new action goal ×2 + 6.08sINFOros2_control_node[2026-11-09 05:59:45.513] [info] Accepted new action goal ×2 | ||||
| − skipped | — | record_teleop_trajectory.xml | 0.0s | 3 warnings · 322 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1794203979.43597269 seconds ×3 + 0.01sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.01sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.01sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.56sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.56sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.56sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.56sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.56sINFOobjective_server_nodecaller: ×10 + 0.56sINFOobjective_server_nodetype: 0 ×10 + 0.56sINFOobjective_server_nodename: "" ×10 + 0.56sINFOobjective_server_nodeinstance_id: "" ×10 + 0.56sINFOobjective_server_node ×10 + 0.62sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1794203980.05339074 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.68sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1794203980.11356640 seconds ×3 + 0.99sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.28sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.34sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1794203980.77122474 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.35sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1794203980.78138709 seconds ×3 + 1.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.88sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1794203981.37230325 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.09sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1794203981.52283812 seconds ×3 + 2.69sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.69sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.75sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1794203982.18714046 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.77sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.77sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.78sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.78sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.78sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.587784 ms (missed cycles : 3). + 2.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.587784 ms (missed cycles : 3).[0m ×2 + 2.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1794203982.23731589 seconds ×3 + 3.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.34sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.44sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1794203982.87846088 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.45sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.46sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.46sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.46sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.46sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.46sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.46sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.46sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.46sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.55sINFOobjective_server_nodeFound path in 0 iterations (2.2142e-05 s). ×2 + 3.56sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.57sINFOros2_control_node[2026-11-09 05:59:43.006] [info] Received new action goal ×2 + 3.57sINFOros2_control_node[2026-11-09 05:59:43.006] [info] Accepted new action goal ×2 + 5.96sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.05sINFOobjective_server_nodeFound path in 0 iterations (2.29e-07 s). ×2 + 6.06sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.08sINFOros2_control_node[2026-11-09 05:59:45.513] [info] Received new action goal ×2 + 6.08sINFOros2_control_node[2026-11-09 05:59:45.513] [info] Accepted new action goal ×2 | ||||
| − skipped | — | track_moving_frame.xml | 0.0s | 3 warnings · 322 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1794203979.43597269 seconds ×3 + 0.01sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.01sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.01sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.56sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.56sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.56sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.56sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.56sINFOobjective_server_nodecaller: ×10 + 0.56sINFOobjective_server_nodetype: 0 ×10 + 0.56sINFOobjective_server_nodename: "" ×10 + 0.56sINFOobjective_server_nodeinstance_id: "" ×10 + 0.56sINFOobjective_server_node ×10 + 0.62sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1794203980.05339074 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.68sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1794203980.11356640 seconds ×3 + 0.99sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.28sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.34sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1794203980.77122474 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.35sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1794203980.78138709 seconds ×3 + 1.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.88sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1794203981.37230325 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.09sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1794203981.52283812 seconds ×3 + 2.69sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.69sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.75sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1794203982.18714046 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.77sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.77sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.78sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.78sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.78sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.587784 ms (missed cycles : 3). + 2.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.587784 ms (missed cycles : 3).[0m ×2 + 2.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1794203982.23731589 seconds ×3 + 3.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.34sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.44sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1794203982.87846088 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.45sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.46sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.46sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.46sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.46sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.46sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.46sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.46sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.46sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.55sINFOobjective_server_nodeFound path in 0 iterations (2.2142e-05 s). ×2 + 3.56sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.57sINFOros2_control_node[2026-11-09 05:59:43.006] [info] Received new action goal ×2 + 3.57sINFOros2_control_node[2026-11-09 05:59:43.006] [info] Accepted new action goal ×2 + 5.96sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.05sINFOobjective_server_nodeFound path in 0 iterations (2.29e-07 s). ×2 + 6.06sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.08sINFOros2_control_node[2026-11-09 05:59:45.513] [info] Received new action goal ×2 + 6.08sINFOros2_control_node[2026-11-09 05:59:45.513] [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 | 0.6s | 3 warnings · 322 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1794203979.43597269 seconds ×3 + 0.01sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.01sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.01sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.56sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.56sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.56sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.56sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.56sINFOobjective_server_nodecaller: ×10 + 0.56sINFOobjective_server_nodetype: 0 ×10 + 0.56sINFOobjective_server_nodename: "" ×10 + 0.56sINFOobjective_server_nodeinstance_id: "" ×10 + 0.56sINFOobjective_server_node ×10 + 0.62sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1794203980.05339074 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.68sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1794203980.11356640 seconds ×3 + 0.99sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.28sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.34sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1794203980.77122474 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.35sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1794203980.78138709 seconds ×3 + 1.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.88sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1794203981.37230325 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.09sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1794203981.52283812 seconds ×3 + 2.69sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.69sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.75sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1794203982.18714046 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.77sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.77sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.78sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.78sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.78sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.587784 ms (missed cycles : 3). + 2.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.587784 ms (missed cycles : 3).[0m ×2 + 2.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1794203982.23731589 seconds ×3 + 3.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.34sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.44sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1794203982.87846088 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.45sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.46sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.46sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.46sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.46sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.46sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.46sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.46sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.46sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.55sINFOobjective_server_nodeFound path in 0 iterations (2.2142e-05 s). ×2 + 3.56sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.57sINFOros2_control_node[2026-11-09 05:59:43.006] [info] Received new action goal ×2 + 3.57sINFOros2_control_node[2026-11-09 05:59:43.006] [info] Accepted new action goal ×2 + 5.96sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.05sINFOobjective_server_nodeFound path in 0 iterations (2.29e-07 s). ×2 + 6.06sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.08sINFOros2_control_node[2026-11-09 05:59:45.513] [info] Received new action goal ×2 + 6.08sINFOros2_control_node[2026-11-09 05:59:45.513] [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 · 322 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1794203979.43597269 seconds ×3 + 0.01sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.01sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.01sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.56sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.56sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.56sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.56sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.56sINFOobjective_server_nodecaller: ×10 + 0.56sINFOobjective_server_nodetype: 0 ×10 + 0.56sINFOobjective_server_nodename: "" ×10 + 0.56sINFOobjective_server_nodeinstance_id: "" ×10 + 0.56sINFOobjective_server_node ×10 + 0.62sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1794203980.05339074 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.68sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1794203980.11356640 seconds ×3 + 0.99sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.28sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.34sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1794203980.77122474 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.35sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1794203980.78138709 seconds ×3 + 1.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.88sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1794203981.37230325 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.09sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1794203981.52283812 seconds ×3 + 2.69sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.69sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.75sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1794203982.18714046 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.77sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.77sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.78sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.78sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.78sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.587784 ms (missed cycles : 3). + 2.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.587784 ms (missed cycles : 3).[0m ×2 + 2.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1794203982.23731589 seconds ×3 + 3.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.34sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.44sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1794203982.87846088 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.45sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.46sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.46sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.46sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.46sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.46sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.46sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.46sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.46sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.55sINFOobjective_server_nodeFound path in 0 iterations (2.2142e-05 s). ×2 + 3.56sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.57sINFOros2_control_node[2026-11-09 05:59:43.006] [info] Received new action goal ×2 + 3.57sINFOros2_control_node[2026-11-09 05:59:43.006] [info] Accepted new action goal ×2 + 5.96sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.05sINFOobjective_server_nodeFound path in 0 iterations (2.29e-07 s). ×2 + 6.06sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.08sINFOros2_control_node[2026-11-09 05:59:45.513] [info] Received new action goal ×2 + 6.08sINFOros2_control_node[2026-11-09 05:59:45.513] [info] Accepted new action goal ×2 | ||||
| − skipped | — | calibrate_eye_in_hand_camera.xml | 0.0s | 3 warnings · 322 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1794203979.43597269 seconds ×3 + 0.01sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.01sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.01sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.56sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.56sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.56sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.56sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.56sINFOobjective_server_nodecaller: ×10 + 0.56sINFOobjective_server_nodetype: 0 ×10 + 0.56sINFOobjective_server_nodename: "" ×10 + 0.56sINFOobjective_server_nodeinstance_id: "" ×10 + 0.56sINFOobjective_server_node ×10 + 0.62sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1794203980.05339074 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.68sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1794203980.11356640 seconds ×3 + 0.99sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.28sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.34sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1794203980.77122474 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.35sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1794203980.78138709 seconds ×3 + 1.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.88sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1794203981.37230325 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.09sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1794203981.52283812 seconds ×3 + 2.69sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.69sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.75sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1794203982.18714046 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.77sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.77sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.78sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.78sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.78sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.587784 ms (missed cycles : 3). + 2.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.587784 ms (missed cycles : 3).[0m ×2 + 2.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1794203982.23731589 seconds ×3 + 3.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.34sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.44sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1794203982.87846088 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.45sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.46sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.46sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.46sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.46sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.46sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.46sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.46sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.46sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.55sINFOobjective_server_nodeFound path in 0 iterations (2.2142e-05 s). ×2 + 3.56sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.57sINFOros2_control_node[2026-11-09 05:59:43.006] [info] Received new action goal ×2 + 3.57sINFOros2_control_node[2026-11-09 05:59:43.006] [info] Accepted new action goal ×2 + 5.96sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.05sINFOobjective_server_nodeFound path in 0 iterations (2.29e-07 s). ×2 + 6.06sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.08sINFOros2_control_node[2026-11-09 05:59:45.513] [info] Received new action goal ×2 + 6.08sINFOros2_control_node[2026-11-09 05:59:45.513] [info] Accepted new action goal ×2 | ||||
| − skipped | — | calibrate_eye_to_hand_camera.xml | 0.0s | 3 warnings · 322 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1794203979.43597269 seconds ×3 + 0.01sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.01sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.01sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.56sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.56sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.56sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.56sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.56sINFOobjective_server_nodecaller: ×10 + 0.56sINFOobjective_server_nodetype: 0 ×10 + 0.56sINFOobjective_server_nodename: "" ×10 + 0.56sINFOobjective_server_nodeinstance_id: "" ×10 + 0.56sINFOobjective_server_node ×10 + 0.62sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1794203980.05339074 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.68sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1794203980.11356640 seconds ×3 + 0.99sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.28sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.34sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1794203980.77122474 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.35sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1794203980.78138709 seconds ×3 + 1.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.88sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1794203981.37230325 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.09sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1794203981.52283812 seconds ×3 + 2.69sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.69sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.75sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1794203982.18714046 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.77sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.77sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.78sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.78sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.78sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.587784 ms (missed cycles : 3). + 2.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.587784 ms (missed cycles : 3).[0m ×2 + 2.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1794203982.23731589 seconds ×3 + 3.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.34sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.44sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1794203982.87846088 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.45sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.46sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.46sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.46sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.46sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.46sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.46sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.46sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.46sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.55sINFOobjective_server_nodeFound path in 0 iterations (2.2142e-05 s). ×2 + 3.56sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.57sINFOros2_control_node[2026-11-09 05:59:43.006] [info] Received new action goal ×2 + 3.57sINFOros2_control_node[2026-11-09 05:59:43.006] [info] Accepted new action goal ×2 + 5.96sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.05sINFOobjective_server_nodeFound path in 0 iterations (2.29e-07 s). ×2 + 6.06sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.08sINFOros2_control_node[2026-11-09 05:59:45.513] [info] Received new action goal ×2 + 6.08sINFOros2_control_node[2026-11-09 05:59:45.513] [info] Accepted new action goal ×2 | ||||
| − skipped | — | capture_calibration_sample.xml | 0.0s | 3 warnings · 322 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1794203979.43597269 seconds ×3 + 0.01sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.01sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.01sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.56sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.56sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.56sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.56sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.56sINFOobjective_server_nodecaller: ×10 + 0.56sINFOobjective_server_nodetype: 0 ×10 + 0.56sINFOobjective_server_nodename: "" ×10 + 0.56sINFOobjective_server_nodeinstance_id: "" ×10 + 0.56sINFOobjective_server_node ×10 + 0.62sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1794203980.05339074 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.68sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1794203980.11356640 seconds ×3 + 0.99sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.28sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.34sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1794203980.77122474 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.35sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1794203980.78138709 seconds ×3 + 1.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.88sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1794203981.37230325 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.09sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1794203981.52283812 seconds ×3 + 2.69sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.69sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.75sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1794203982.18714046 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.77sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.77sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.78sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.78sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.78sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.587784 ms (missed cycles : 3). + 2.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.587784 ms (missed cycles : 3).[0m ×2 + 2.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1794203982.23731589 seconds ×3 + 3.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.34sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.44sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1794203982.87846088 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.45sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.46sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.46sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.46sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.46sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.46sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.46sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.46sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.46sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.55sINFOobjective_server_nodeFound path in 0 iterations (2.2142e-05 s). ×2 + 3.56sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.57sINFOros2_control_node[2026-11-09 05:59:43.006] [info] Received new action goal ×2 + 3.57sINFOros2_control_node[2026-11-09 05:59:43.006] [info] Accepted new action goal ×2 + 5.96sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.05sINFOobjective_server_nodeFound path in 0 iterations (2.29e-07 s). ×2 + 6.06sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.08sINFOros2_control_node[2026-11-09 05:59:45.513] [info] Received new action goal ×2 + 6.08sINFOros2_control_node[2026-11-09 05:59:45.513] [info] Accepted new action goal ×2 | ||||
| − skipped | — | capture_camera_point_cloud.xml | 0.0s | 3 warnings · 322 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1794203979.43597269 seconds ×3 + 0.01sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.01sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.01sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.56sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.56sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.56sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.56sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.56sINFOobjective_server_nodecaller: ×10 + 0.56sINFOobjective_server_nodetype: 0 ×10 + 0.56sINFOobjective_server_nodename: "" ×10 + 0.56sINFOobjective_server_nodeinstance_id: "" ×10 + 0.56sINFOobjective_server_node ×10 + 0.62sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1794203980.05339074 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.68sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1794203980.11356640 seconds ×3 + 0.99sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.28sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.34sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1794203980.77122474 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.35sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1794203980.78138709 seconds ×3 + 1.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.88sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1794203981.37230325 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.09sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1794203981.52283812 seconds ×3 + 2.69sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.69sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.75sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1794203982.18714046 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.77sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.77sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.78sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.78sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.78sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.587784 ms (missed cycles : 3). + 2.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.587784 ms (missed cycles : 3).[0m ×2 + 2.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1794203982.23731589 seconds ×3 + 3.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.34sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.44sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1794203982.87846088 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.45sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.46sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.46sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.46sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.46sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.46sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.46sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.46sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.46sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.55sINFOobjective_server_nodeFound path in 0 iterations (2.2142e-05 s). ×2 + 3.56sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.57sINFOros2_control_node[2026-11-09 05:59:43.006] [info] Received new action goal ×2 + 3.57sINFOros2_control_node[2026-11-09 05:59:43.006] [info] Accepted new action goal ×2 + 5.96sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.05sINFOobjective_server_nodeFound path in 0 iterations (2.29e-07 s). ×2 + 6.06sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.08sINFOros2_control_node[2026-11-09 05:59:45.513] [info] Received new action goal ×2 + 6.08sINFOros2_control_node[2026-11-09 05:59:45.513] [info] Accepted new action goal ×2 | ||||
| − skipped | — | collect_calibration_samples.xml | 0.0s | 3 warnings · 322 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1794203979.43597269 seconds ×3 + 0.01sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.01sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.01sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.56sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.56sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.56sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.56sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.56sINFOobjective_server_nodecaller: ×10 + 0.56sINFOobjective_server_nodetype: 0 ×10 + 0.56sINFOobjective_server_nodename: "" ×10 + 0.56sINFOobjective_server_nodeinstance_id: "" ×10 + 0.56sINFOobjective_server_node ×10 + 0.62sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1794203980.05339074 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.68sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1794203980.11356640 seconds ×3 + 0.99sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.28sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.34sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1794203980.77122474 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.35sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1794203980.78138709 seconds ×3 + 1.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.88sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1794203981.37230325 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.09sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1794203981.52283812 seconds ×3 + 2.69sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.69sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.75sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1794203982.18714046 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.77sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.77sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.78sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.78sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.78sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.587784 ms (missed cycles : 3). + 2.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.587784 ms (missed cycles : 3).[0m ×2 + 2.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1794203982.23731589 seconds ×3 + 3.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.34sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.44sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1794203982.87846088 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.45sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.46sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.46sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.46sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.46sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.46sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.46sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.46sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.46sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.55sINFOobjective_server_nodeFound path in 0 iterations (2.2142e-05 s). ×2 + 3.56sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.57sINFOros2_control_node[2026-11-09 05:59:43.006] [info] Received new action goal ×2 + 3.57sINFOros2_control_node[2026-11-09 05:59:43.006] [info] Accepted new action goal ×2 + 5.96sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.05sINFOobjective_server_nodeFound path in 0 iterations (2.29e-07 s). ×2 + 6.06sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.08sINFOros2_control_node[2026-11-09 05:59:45.513] [info] Received new action goal ×2 + 6.08sINFOros2_control_node[2026-11-09 05:59:45.513] [info] Accepted new action goal ×2 | ||||
| − skipped | — | generate_calibration_waypoints.xml | 0.0s | 3 warnings · 322 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1794203979.43597269 seconds ×3 + 0.01sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.01sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.01sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.56sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.56sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.56sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.56sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.56sINFOobjective_server_nodecaller: ×10 + 0.56sINFOobjective_server_nodetype: 0 ×10 + 0.56sINFOobjective_server_nodename: "" ×10 + 0.56sINFOobjective_server_nodeinstance_id: "" ×10 + 0.56sINFOobjective_server_node ×10 + 0.62sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1794203980.05339074 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.68sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1794203980.11356640 seconds ×3 + 0.99sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.28sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.34sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1794203980.77122474 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.35sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1794203980.78138709 seconds ×3 + 1.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.88sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1794203981.37230325 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.09sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1794203981.52283812 seconds ×3 + 2.69sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.69sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.75sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1794203982.18714046 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.77sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.77sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.78sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.78sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.78sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.587784 ms (missed cycles : 3). + 2.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.587784 ms (missed cycles : 3).[0m ×2 + 2.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1794203982.23731589 seconds ×3 + 3.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.34sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.44sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1794203982.87846088 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.45sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.46sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.46sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.46sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.46sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.46sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.46sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.46sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.46sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.55sINFOobjective_server_nodeFound path in 0 iterations (2.2142e-05 s). ×2 + 3.56sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.57sINFOros2_control_node[2026-11-09 05:59:43.006] [info] Received new action goal ×2 + 3.57sINFOros2_control_node[2026-11-09 05:59:43.006] [info] Accepted new action goal ×2 + 5.96sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.05sINFOobjective_server_nodeFound path in 0 iterations (2.29e-07 s). ×2 + 6.06sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.08sINFOros2_control_node[2026-11-09 05:59:45.513] [info] Received new action goal ×2 + 6.08sINFOros2_control_node[2026-11-09 05:59:45.513] [info] Accepted new action goal ×2 | ||||
| − skipped | — | get_imarker_pose_from_mesh_visualization.xml | 0.0s | 3 warnings · 322 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1794203979.43597269 seconds ×3 + 0.01sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.01sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.01sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.56sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.56sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.56sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.56sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.56sINFOobjective_server_nodecaller: ×10 + 0.56sINFOobjective_server_nodetype: 0 ×10 + 0.56sINFOobjective_server_nodename: "" ×10 + 0.56sINFOobjective_server_nodeinstance_id: "" ×10 + 0.56sINFOobjective_server_node ×10 + 0.62sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1794203980.05339074 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.68sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1794203980.11356640 seconds ×3 + 0.99sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.28sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.34sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1794203980.77122474 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.35sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1794203980.78138709 seconds ×3 + 1.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.88sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1794203981.37230325 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.09sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1794203981.52283812 seconds ×3 + 2.69sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.69sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.75sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1794203982.18714046 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.77sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.77sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.78sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.78sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.78sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.587784 ms (missed cycles : 3). + 2.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.587784 ms (missed cycles : 3).[0m ×2 + 2.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1794203982.23731589 seconds ×3 + 3.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.34sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.44sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1794203982.87846088 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.45sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.46sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.46sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.46sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.46sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.46sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.46sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.46sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.46sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.55sINFOobjective_server_nodeFound path in 0 iterations (2.2142e-05 s). ×2 + 3.56sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.57sINFOros2_control_node[2026-11-09 05:59:43.006] [info] Received new action goal ×2 + 3.57sINFOros2_control_node[2026-11-09 05:59:43.006] [info] Accepted new action goal ×2 + 5.96sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.05sINFOobjective_server_nodeFound path in 0 iterations (2.29e-07 s). ×2 + 6.06sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.08sINFOros2_control_node[2026-11-09 05:59:45.513] [info] Received new action goal ×2 + 6.08sINFOros2_control_node[2026-11-09 05:59:45.513] [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 · 322 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1794203979.43597269 seconds ×3 + 0.01sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.01sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.01sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.56sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.56sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.56sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.56sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.56sINFOobjective_server_nodecaller: ×10 + 0.56sINFOobjective_server_nodetype: 0 ×10 + 0.56sINFOobjective_server_nodename: "" ×10 + 0.56sINFOobjective_server_nodeinstance_id: "" ×10 + 0.56sINFOobjective_server_node ×10 + 0.62sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1794203980.05339074 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.68sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1794203980.11356640 seconds ×3 + 0.99sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.28sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.34sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1794203980.77122474 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.35sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1794203980.78138709 seconds ×3 + 1.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.88sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1794203981.37230325 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.09sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1794203981.52283812 seconds ×3 + 2.69sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.69sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.75sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1794203982.18714046 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.77sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.77sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.78sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.78sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.78sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.587784 ms (missed cycles : 3). + 2.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.587784 ms (missed cycles : 3).[0m ×2 + 2.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1794203982.23731589 seconds ×3 + 3.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.34sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.44sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1794203982.87846088 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.45sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.46sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.46sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.46sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.46sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.46sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.46sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.46sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.46sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.55sINFOobjective_server_nodeFound path in 0 iterations (2.2142e-05 s). ×2 + 3.56sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.57sINFOros2_control_node[2026-11-09 05:59:43.006] [info] Received new action goal ×2 + 3.57sINFOros2_control_node[2026-11-09 05:59:43.006] [info] Accepted new action goal ×2 + 5.96sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.05sINFOobjective_server_nodeFound path in 0 iterations (2.29e-07 s). ×2 + 6.06sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.08sINFOros2_control_node[2026-11-09 05:59:45.513] [info] Received new action goal ×2 + 6.08sINFOros2_control_node[2026-11-09 05:59:45.513] [info] Accepted new action goal ×2 | ||||
| − skipped | — | interactive_marker_visualization_example.xml | 0.0s | 3 warnings · 322 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1794203979.43597269 seconds ×3 + 0.01sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.01sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.01sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.56sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.56sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.56sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.56sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.56sINFOobjective_server_nodecaller: ×10 + 0.56sINFOobjective_server_nodetype: 0 ×10 + 0.56sINFOobjective_server_nodename: "" ×10 + 0.56sINFOobjective_server_nodeinstance_id: "" ×10 + 0.56sINFOobjective_server_node ×10 + 0.62sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1794203980.05339074 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.68sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1794203980.11356640 seconds ×3 + 0.99sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.28sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.34sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1794203980.77122474 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.35sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1794203980.78138709 seconds ×3 + 1.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.88sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1794203981.37230325 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.09sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1794203981.52283812 seconds ×3 + 2.69sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.69sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.75sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1794203982.18714046 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.77sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.77sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.78sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.78sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.78sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.587784 ms (missed cycles : 3). + 2.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.587784 ms (missed cycles : 3).[0m ×2 + 2.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1794203982.23731589 seconds ×3 + 3.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.34sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.44sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1794203982.87846088 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.45sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.46sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.46sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.46sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.46sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.46sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.46sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.46sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.46sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.55sINFOobjective_server_nodeFound path in 0 iterations (2.2142e-05 s). ×2 + 3.56sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.57sINFOros2_control_node[2026-11-09 05:59:43.006] [info] Received new action goal ×2 + 3.57sINFOros2_control_node[2026-11-09 05:59:43.006] [info] Accepted new action goal ×2 + 5.96sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.05sINFOobjective_server_nodeFound path in 0 iterations (2.29e-07 s). ×2 + 6.06sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.08sINFOros2_control_node[2026-11-09 05:59:45.513] [info] Received new action goal ×2 + 6.08sINFOros2_control_node[2026-11-09 05:59:45.513] [info] Accepted new action goal ×2 | ||||
| − skipped | — | visualize_tf.xml | 0.0s | 3 warnings · 322 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1794203979.43597269 seconds ×3 + 0.01sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.01sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.01sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.56sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.56sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.56sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.56sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.56sINFOobjective_server_nodecaller: ×10 + 0.56sINFOobjective_server_nodetype: 0 ×10 + 0.56sINFOobjective_server_nodename: "" ×10 + 0.56sINFOobjective_server_nodeinstance_id: "" ×10 + 0.56sINFOobjective_server_node ×10 + 0.62sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1794203980.05339074 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.68sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1794203980.11356640 seconds ×3 + 0.99sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.28sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.34sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1794203980.77122474 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.35sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1794203980.78138709 seconds ×3 + 1.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.88sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1794203981.37230325 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.09sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1794203981.52283812 seconds ×3 + 2.69sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.69sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.75sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1794203982.18714046 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.77sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.77sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.78sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.78sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.78sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.587784 ms (missed cycles : 3). + 2.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.587784 ms (missed cycles : 3).[0m ×2 + 2.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1794203982.23731589 seconds ×3 + 3.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.34sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.44sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1794203982.87846088 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.45sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.46sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.46sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.46sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.46sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.46sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.46sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.46sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.46sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.55sINFOobjective_server_nodeFound path in 0 iterations (2.2142e-05 s). ×2 + 3.56sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.57sINFOros2_control_node[2026-11-09 05:59:43.006] [info] Received new action goal ×2 + 3.57sINFOros2_control_node[2026-11-09 05:59:43.006] [info] Accepted new action goal ×2 + 5.96sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.05sINFOobjective_server_nodeFound path in 0 iterations (2.29e-07 s). ×2 + 6.06sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.08sINFOros2_control_node[2026-11-09 05:59:45.513] [info] Received new action goal ×2 + 6.08sINFOros2_control_node[2026-11-09 05:59:45.513] [info] Accepted new action goal ×2 | ||||