136
Total objective tests
35
Objectives passed
0
Objectives failed
101
Objectives skipped
10.2s
Avg test time
100%
Objective pass rate
▾
/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/objectives31 pass60 skip
| ✓ passed | MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample | mpc_pose_tracking_dynamic_point_cloud_avoidance_with_sphere_down_sample.xml | 44.5s | 120 warnings · 23688 info |
+ 0.00sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1793749064.92988229 seconds ×3 + 0.01sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 0.01sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 0.01sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×7 + 0.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×14 + 0.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 0.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.02sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 0.02sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 0.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 0.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 0.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.54sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.54sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample" ×2 + 0.54sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.54sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.54sINFOobjective_server_nodecaller: ×4 + 0.54sINFOobjective_server_nodetype: 0 ×4 + 0.54sINFOobjective_server_nodename: "" ×4 + 0.54sINFOobjective_server_nodeinstance_id: "" ×4 + 0.54sINFOobjective_server_node ×4 + 0.61sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1793749065.54466391 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.69sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×18 + 0.78sINFOobjective_server_nodeFound path in 0 iterations (2.27e-07 s). ×2 + 0.78sINFOobjective_server_nodePath shortcutter: [X____X] ×4 + 0.79sINFOros2_control_node[2026-11-03 23:37:45.718] [info] Received new action goal ×2 + 0.79sINFOros2_control_node[2026-11-03 23:37:45.718] [info] Accepted new action goal ×2 + 2.06sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.16727752384940525;y=0.47323919871065;z=0.7971805284211555, orientation: x=0.5894248519484582;y=0.7987881401812754;z=0.09721280806199328;w=-0.07117247333048911 ×6 + 2.06sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 2.14sINFOobjective_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 + 2.14sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] ×2 + 2.14sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 2.14sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×4 + 2.14sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 2.14sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 2.14sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] ×2 + 2.14sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 2.14sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×4 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.742295 ms (missed cycles : 2). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.742295 ms (missed cycles : 2).[0m ×2 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796452 ms (missed cycles : 2). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796452 ms (missed cycles : 2).[0m ×2 + 3.82sINFOjoint_trajectory_controllerReceived new action goal ×3904 + 3.82sINFOjoint_trajectory_controllerAccepted new action goal ×3904 + 3.82sINFOros2_control_nodeReceived new action goal[0m ×7808 + 3.82sINFOros2_control_nodeAccepted new action goal[0m ×7808 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.675905 ms (missed cycles : 2). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.675905 ms (missed cycles : 2).[0m ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.760716 ms (missed cycles : 2). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.760716 ms (missed cycles : 2).[0m ×2 + 6.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796808 ms (missed cycles : 2). + 6.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796808 ms (missed cycles : 2).[0m ×2 + 7.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.772023 ms (missed cycles : 2). + 7.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.772023 ms (missed cycles : 2).[0m ×2 + 9.13sINFOjoint_trajectory_controllerGot request to cancel goal ×12 + 9.13sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. ×6 + 9.13sINFOros2_control_nodeGot request to cancel goal[0m ×24 + 9.13sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×12 + 9.13sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×12 + 9.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.894829 ms (missed cycles : 2). + 9.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.894829 ms (missed cycles : 2).[0m ×2 + 10.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.788028 ms (missed cycles : 2). + 10.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.788028 ms (missed cycles : 2).[0m ×2 + 11.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681256 ms (missed cycles : 2). + 11.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681256 ms (missed cycles : 2).[0m ×2 + 12.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.913420 ms (missed cycles : 2). + 12.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.913420 ms (missed cycles : 2).[0m ×2 + 13.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.995828 ms (missed cycles : 2). + 13.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.995828 ms (missed cycles : 2).[0m ×2 + 14.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.071443 ms (missed cycles : 2). + 14.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.071443 ms (missed cycles : 2).[0m ×2 + 15.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668991 ms (missed cycles : 2). + 15.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668991 ms (missed cycles : 2).[0m ×2 + 16.07sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 16.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.671853 ms (missed cycles : 2). + 16.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.671853 ms (missed cycles : 2).[0m ×2 + 18.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839492 ms (missed cycles : 2). + 18.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839492 ms (missed cycles : 2).[0m ×2 + 19.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.756806 ms (missed cycles : 3). + 19.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.756806 ms (missed cycles : 3).[0m ×2 + 20.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.857268 ms (missed cycles : 2). + 20.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.857268 ms (missed cycles : 2).[0m ×2 + 21.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.827928 ms (missed cycles : 2). + 21.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.827928 ms (missed cycles : 2).[0m ×2 + 22.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.886640 ms (missed cycles : 2). + 22.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.886640 ms (missed cycles : 2).[0m ×2 + 23.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.758476 ms (missed cycles : 2). + 23.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.758476 ms (missed cycles : 2).[0m ×2 + 24.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.000143 ms (missed cycles : 2). + 24.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.000143 ms (missed cycles : 2).[0m ×2 + 25.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.715710 ms (missed cycles : 3). + 25.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.715710 ms (missed cycles : 3).[0m ×2 + 26.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.761084 ms (missed cycles : 2). + 26.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.761084 ms (missed cycles : 2).[0m ×2 + 27.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.870388 ms (missed cycles : 2). + 27.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.870388 ms (missed cycles : 2).[0m ×2 + 28.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.126885 ms (missed cycles : 2). + 28.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.126885 ms (missed cycles : 2).[0m ×2 + 30.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.725270 ms (missed cycles : 2). + 30.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.725270 ms (missed cycles : 2).[0m ×2 + 31.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.157063 ms (missed cycles : 2). + 31.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.157063 ms (missed cycles : 2).[0m ×2 + 32.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.784276 ms (missed cycles : 2). + 32.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.784276 ms (missed cycles : 2).[0m ×2 + 33.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.745738 ms (missed cycles : 2). + 33.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.745738 ms (missed cycles : 2).[0m ×2 + 34.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.117599 ms (missed cycles : 2). + 34.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.117599 ms (missed cycles : 2).[0m ×2 + 35.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.775017 ms (missed cycles : 2). + 35.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.775017 ms (missed cycles : 2).[0m ×2 + 36.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.771182 ms (missed cycles : 2). + 36.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.771182 ms (missed cycles : 2).[0m ×2 + 37.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.788628 ms (missed cycles : 2). + 37.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.788628 ms (missed cycles : 2).[0m ×2 + 38.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.018716 ms (missed cycles : 2). + 38.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.018716 ms (missed cycles : 2).[0m ×2 + 39.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.966729 ms (missed cycles : 2). + 39.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.966729 ms (missed cycles : 2).[0m ×2 + 41.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.068079 ms (missed cycles : 2). + 41.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.068079 ms (missed cycles : 2).[0m ×2 + 42.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.680454 ms (missed cycles : 2). + 42.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.680454 ms (missed cycles : 2).[0m ×2 + 43.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.907353 ms (missed cycles : 2). + 43.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.907353 ms (missed cycles : 2).[0m ×2 + 44.50sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1793749109.43209410 seconds ×3 + 44.51sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 44.51sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 44.52sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 44.52sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 44.52sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 44.52sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 45.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 45.04sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample" ×2 + 45.14sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1793749110.07333732 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 45.20sINFOobjective_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 + 45.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 45.20sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 45.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 45.20sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 45.20sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 45.20sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 45.20sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 45.20sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 45.29sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 45.30sINFOros2_control_node[2026-11-03 23:38:30.227] [info] Received new action goal ×2 + 45.30sINFOros2_control_node[2026-11-03 23:38:30.227] [info] Accepted new action goal ×2 + 46.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.354558 ms (missed cycles : 2). + 46.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.354558 ms (missed cycles : 2).[0m ×2 + 47.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.102019 ms (missed cycles : 2). + 47.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.102019 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Move Flasks to Burners | move_flasks_to_burners.xml | 42.8s | 9 warnings · 342 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 0.00sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×6 + 0.00sINFOobjective_server_nodecaller: ×6 + 0.00sINFOobjective_server_nodetype: 0 ×6 + 0.00sINFOobjective_server_nodename: "" ×6 + 0.00sINFOobjective_server_nodeinstance_id: "" ×6 + 0.00sINFOobjective_server_node ×6 + 0.06sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1793749007.40948057 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.07sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×24 + 0.17sINFOobjective_server_nodeFound path in 0 iterations (4.08e-07 s). ×2 + 0.17sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.18sINFOros2_control_node[2026-11-03 23:36:47.523] [info] Received new action goal ×2 + 0.18sINFOros2_control_node[2026-11-03 23:36:47.523] [info] Accepted new action goal ×2 + 2.18sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1793749009.52964664 seconds ×3 + 3.19sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.19sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.19sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.19sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.19sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.19sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.20sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.20sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.73sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.81sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1793749011.15588689 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×6 + 3.81sINFOros2_control_nodeReceived & accepted new action goal[0m ×12 + 3.89sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.90sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.17sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 4.17sINFOobjective_server_nodePath shortcutter: [X_____________X] ×6 + 4.22sINFOros2_control_node[2026-11-03 23:36:51.564] [info] Received new action goal ×2 + 4.22sINFOros2_control_node[2026-11-03 23:36:51.564] [info] Accepted new action goal ×2 + 7.06sINFOobjective_server_nodeFound path in 0 iterations (3.36e-07 s). ×2 + 7.08sINFOros2_control_node[2026-11-03 23:36:54.431] [info] Received new action goal ×2 + 7.08sINFOros2_control_node[2026-11-03 23:36:54.431] [info] Accepted new action goal ×2 + 10.23sINFOobjective_server_nodePlanning for 2 path waypoints. ×12 + 10.25sINFOros2_control_node[2026-11-03 23:36:57.600] [info] Received new action goal ×2 + 10.25sINFOros2_control_node[2026-11-03 23:36:57.600] [info] Accepted new action goal ×2 + 13.23sINFOobjective_server_nodeFound path in 0 iterations (3.53e-07 s). ×2 + 13.24sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 13.28sINFOros2_control_node[2026-11-03 23:37:00.623] [info] Received new action goal ×2 + 13.28sINFOros2_control_node[2026-11-03 23:37:00.623] [info] Accepted new action goal ×2 + 13.65sINFOros2_control_nodeMuJoCo sim: 0.04% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 16.24sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×6 + 16.24sINFOcontroller_managerActivating controllers: [ velocity_force_controller ] ×2 + 16.24sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 16.24sINFOros2_control_nodeActivating controllers: [ velocity_force_controller ][0m ×4 + 16.24sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 16.24sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 16.24sINFOcontroller_managerActivated controllers: [ velocity_force_controller ] ×2 + 16.24sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 16.24sINFOros2_control_nodeActivated controllers: [ velocity_force_controller ][0m ×4 + 23.76sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: velocity_force_controller ×6 + 23.77sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 23.77sINFOcontroller_managerDeactivating controllers: [ velocity_force_controller ] ×2 + 23.77sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 23.77sINFOros2_control_nodeDeactivating controllers: [ velocity_force_controller ][0m ×4 + 23.77sINFOcontroller_managerDeactivated controllers: [ velocity_force_controller ] ×2 + 23.77sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 23.77sINFOros2_control_nodeDeactivated controllers: [ velocity_force_controller ][0m ×4 + 23.77sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 24.65sINFOros2_control_node[2026-11-03 23:37:11.995] [info] Received new action goal ×2 + 24.65sINFOros2_control_node[2026-11-03 23:37:11.995] [info] Accepted new action goal ×2 + 25.83sINFOobjective_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 + 25.84sINFOobjective_server_nodeLink name: grasp_link, position: x=0.6598576612532956;y=0.560002886143494;z=0.650831489837671, orientation: x=-0.00013997501114327708;y=0.9955508839479362;z=0.09420424850691615;w=-0.0019943522071821764 ×3 + 26.13sINFOobjective_server_nodeFound path in 0 iterations (3.51e-07 s). ×2 + 26.17sINFOros2_control_node[2026-11-03 23:37:13.518] [info] Received new action goal ×2 + 26.17sINFOros2_control_node[2026-11-03 23:37:13.518] [info] Accepted new action goal ×2 + 28.44sINFOobjective_server_nodeFound path in 0 iterations (3.93e-07 s). ×2 + 28.45sINFOobjective_server_nodePath shortcutter: [X___________X] ×2 + 28.46sINFOros2_control_node[2026-11-03 23:37:15.806] [info] Received new action goal ×2 + 28.46sINFOros2_control_node[2026-11-03 23:37:15.806] [info] Accepted new action goal ×2 + 31.48sINFOros2_control_node[2026-11-03 23:37:18.826] [info] Received new action goal ×2 + 31.48sINFOros2_control_node[2026-11-03 23:37:18.826] [info] Accepted new action goal ×2 + 33.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730613 ms (missed cycles : 2). + 33.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730613 ms (missed cycles : 2).[0m ×2 + 34.07sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). ×2 + 34.07sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 34.12sINFOros2_control_node[2026-11-03 23:37:21.469] [info] Received new action goal ×2 + 34.12sINFOros2_control_node[2026-11-03 23:37:21.469] [info] Accepted new action goal ×2 + 44.83sINFOros2_control_node[2026-11-03 23:37:32.178] [info] Received new action goal ×2 + 44.83sINFOros2_control_node[2026-11-03 23:37:32.178] [info] Accepted new action goal ×2 + 45.98sINFOobjective_server_nodeObjective `Move Flasks to Burners` succeeded at time: 1793749053.33355427 seconds ×3 + 46.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Push Button"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 46.56sINFOobjective_server_nodeobjective_name: "Push Button" ×2 + 46.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.722901 ms (missed cycles : 2). + 46.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.722901 ms (missed cycles : 2).[0m ×2 + 46.78sINFOobjective_server_nodeObjective `Push Button` starting at time: 1793749054.12734556 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 47.80sINFOobjective_server_nodeFound path in 0 iterations (3.48e-07 s). ×2 + 47.82sINFOobjective_server_nodePath shortcutter: [X___________________________X] ×2 + 47.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.696221 ms (missed cycles : 2). + 47.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.696221 ms (missed cycles : 2).[0m ×2 + 47.82sINFOros2_control_node[2026-11-03 23:37:35.172] [info] Received new action goal ×2 + 47.82sINFOros2_control_node[2026-11-03 23:37:35.173] [info] Accepted new action goal ×2 | ||||
| ✓ passed | Record Surface Coverage Demo | record_surface_coverage_demo.xml | 34.2s | 20 warnings · 311 info |
+ 0.00sINFOros2_control_node[2026-11-03 23:39:42.165] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-11-03 23:39:42.165] [info] Accepted new action goal ×2 + 0.50sINFOros2_control_node[2026-11-03 23:39:42.666] [info] Received new action goal ×2 + 0.50sINFOros2_control_node[2026-11-03 23:39:42.666] [info] Accepted new action goal ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.667183 ms (missed cycles : 2). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.667183 ms (missed cycles : 2).[0m ×2 + 2.57sINFOros2_control_node[2026-11-03 23:39:44.738] [info] Received new action goal ×2 + 2.57sINFOros2_control_node[2026-11-03 23:39:44.738] [info] Accepted new action goal ×2 + 3.38sINFOobjective_server_nodeSaveJointTrajectoryToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/square_traj.yaml' under namespace '' ×3 + 3.38sINFOobjective_server_nodeObjective `Record Square Trajectory` succeeded at time: 1793749185.54705596 seconds ×3 + 3.39sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×5 + 3.39sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×10 + 3.39sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 3.39sINFOcontroller_managerSuccessfully switched controllers! ×10 + 3.39sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 3.39sINFOros2_control_nodeSuccessfully switched controllers![0m ×20 + 3.39sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×10 + 3.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 3.39sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×5 + 3.39sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×10 + 3.41sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×5 + 3.41sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×10 + 3.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Record Surface Coverage Demo"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.92sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 3.92sINFOobjective_server_nodeobjective_name: "Record Surface Coverage Demo" ×2 + 3.92sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 3.92sINFOobjective_server_nodeparameter_overrides: [] ×8 + 3.92sINFOobjective_server_nodecaller: ×8 + 3.92sINFOobjective_server_nodetype: 0 ×8 + 3.92sINFOobjective_server_nodename: "" ×8 + 3.92sINFOobjective_server_nodeinstance_id: "" ×8 + 3.92sINFOobjective_server_node ×8 + 4.03sINFOobjective_server_nodeObjective `Record Surface Coverage Demo` starting at time: 1793749186.19676876 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.03sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.03sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.95sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 5.05sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 5.06sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.07sINFOros2_control_node[2026-11-03 23:39:47.231] [info] Received new action goal ×2 + 5.07sINFOros2_control_node[2026-11-03 23:39:47.231] [info] Accepted new action goal ×2 + 7.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.298991 ms (missed cycles : 4). + 7.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.298991 ms (missed cycles : 4).[0m ×2 + 8.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.308525 ms (missed cycles : 3). + 8.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.308525 ms (missed cycles : 3).[0m ×2 + 8.48sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: wrist_camera (1.07 s). The render path has stopped producing new frames for them.[0m ×2 + 9.34sINFOobjective_server_nodeGenerateSurfaceCoveragePath Info: Generated 48 coverage poses over the region's +Z face. ×3 + 9.35sINFOobjective_server_nodePlanning for 49 path waypoints. ×3 + 9.40sINFOros2_control_node[2026-11-03 23:39:51.563] [info] Received new action goal ×2 + 9.40sINFOros2_control_node[2026-11-03 23:39:51.563] [info] Accepted new action goal ×2 + 18.83sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 19.15sINFOobjective_server_nodeFound path in 0 iterations (2.81e-07 s). ×2 + 19.16sINFOobjective_server_nodePath shortcutter: [X__________X] ×2 + 19.17sINFOros2_control_node[2026-11-03 23:40:01.337] [info] Received new action goal ×2 + 19.17sINFOros2_control_node[2026-11-03 23:40:01.337] [info] Accepted new action goal ×2 + 21.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.072422 ms (missed cycles : 7). + 21.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.072422 ms (missed cycles : 7).[0m ×2 + 22.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.260834 ms (missed cycles : 4). + 22.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.260834 ms (missed cycles : 4).[0m ×2 + 24.22sINFOobjective_server_nodeGenerateSurfaceCoveragePath Info: Generated 54 coverage poses over the region's +Z face. ×3 + 24.24sINFOobjective_server_nodePlanning for 55 path waypoints. ×3 + 24.28sINFOros2_control_node[2026-11-03 23:40:06.446] [info] Received new action goal ×2 + 24.28sINFOros2_control_node[2026-11-03 23:40:06.446] [info] Accepted new action goal ×2 + 33.75sINFOobjective_server_nodeFound path in 0 iterations (4.77e-07 s). ×2 + 33.76sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 33.78sINFOros2_control_node[2026-11-03 23:40:15.941] [info] Received new action goal ×2 + 33.78sINFOros2_control_node[2026-11-03 23:40:15.941] [info] Accepted new action goal ×2 + 37.56sINFOobjective_server_nodeObjective `Record Surface Coverage Demo` succeeded at time: 1793749219.72545481 seconds ×3 + 38.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 38.20sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 38.42sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1793749220.59074426 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 38.45sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 38.45sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 38.47sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 38.47sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 38.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.886265 ms (missed cycles : 3). + 38.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.886265 ms (missed cycles : 3).[0m ×2 + 38.49sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1793749220.65091968 seconds ×3 + 39.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 39.03sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 39.08sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1793749221.25074363 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 39.11sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 39.11sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1793749221.27251124 seconds ×3 + 39.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 39.75sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 39.81sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1793749221.98015809 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 39.94sINFOobjective_server_nodeFound path in 0 iterations (3.33e-07 s). ×2 + 39.94sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 39.95sINFOros2_control_node[2026-11-03 23:40:22.114] [info] Received new action goal ×2 + 39.95sINFOros2_control_node[2026-11-03 23:40:22.114] [info] Accepted new action goal ×2 | ||||
| ✓ passed | MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample | mpc_pose_tracking_static_point_cloud_avoidance_with_sphere_down_sample.xml | 22.1s | 66 warnings · 16042 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×2641 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×2641 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×5282 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×5282 + 0.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.068079 ms (missed cycles : 2). + 0.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.068079 ms (missed cycles : 2).[0m ×2 + 1.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.680454 ms (missed cycles : 2). + 1.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.680454 ms (missed cycles : 2).[0m ×2 + 2.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.907353 ms (missed cycles : 2). + 2.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.907353 ms (missed cycles : 2).[0m ×2 + 3.36sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1793749109.43209410 seconds ×3 + 3.36sINFOjoint_trajectory_controllerGot request to cancel goal ×4 + 3.36sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. ×2 + 3.36sINFOros2_control_nodeGot request to cancel goal[0m ×8 + 3.37sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×4 + 3.37sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×2 + 3.37sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×4 + 3.37sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.37sINFOcontroller_managerSuccessfully switched controllers! ×7 + 3.37sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.37sINFOros2_control_nodeSuccessfully switched controllers![0m ×14 + 3.38sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.38sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.38sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×2 + 3.38sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×4 + 3.38sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×2 + 3.38sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×4 + 3.90sINFOobjective_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: ""
+ 3.90sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.90sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample" ×2 + 3.90sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.90sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.90sINFOobjective_server_nodecaller: ×4 + 3.90sINFOobjective_server_nodetype: 0 ×4 + 3.90sINFOobjective_server_nodename: "" ×4 + 3.90sINFOobjective_server_nodeinstance_id: "" ×4 + 3.90sINFOobjective_server_node ×4 + 4.00sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1793749110.07333732 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.05sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×6 + 4.06sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 4.06sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] ×2 + 4.06sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 4.06sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×4 + 4.06sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] ×2 + 4.06sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 4.06sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×4 + 4.06sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 4.15sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 4.15sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 4.16sINFOros2_control_node[2026-11-03 23:38:30.227] [info] Received new action goal ×2 + 4.16sINFOros2_control_node[2026-11-03 23:38:30.227] [info] Accepted new action goal ×2 + 5.40sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×2 + 5.46sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.16727752384940525;y=0.47323919871065;z=0.7971805284211555, orientation: x=0.5894248519484582;y=0.7987881401812754;z=0.09721280806199328;w=-0.07117247333048911 ×3 + 5.49sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×3 + 5.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.49sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] + 5.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.49sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.49sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] + 5.49sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 5.49sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.49sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.354558 ms (missed cycles : 2). + 5.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.354558 ms (missed cycles : 2).[0m ×2 + 6.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.102019 ms (missed cycles : 2). + 6.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.102019 ms (missed cycles : 2).[0m ×2 + 7.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.810451 ms (missed cycles : 2). + 7.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.810451 ms (missed cycles : 2).[0m ×2 + 8.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.685807 ms (missed cycles : 2). + 8.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.685807 ms (missed cycles : 2).[0m ×2 + 10.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.711716 ms (missed cycles : 2). + 10.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.711716 ms (missed cycles : 2).[0m ×2 + 11.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.381190 ms (missed cycles : 2). + 11.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.381190 ms (missed cycles : 2).[0m ×2 + 12.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.188974 ms (missed cycles : 2). + 12.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.188974 ms (missed cycles : 2).[0m ×2 + 13.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.786510 ms (missed cycles : 2). + 13.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.786510 ms (missed cycles : 2).[0m ×2 + 14.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.000110 ms (missed cycles : 2). + 14.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.000110 ms (missed cycles : 2).[0m ×2 + 15.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.604359 ms (missed cycles : 2). + 15.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.604359 ms (missed cycles : 2).[0m ×2 + 17.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.645379 ms (missed cycles : 2). + 17.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.645379 ms (missed cycles : 2).[0m ×2 + 18.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.875290 ms (missed cycles : 2). + 18.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.875290 ms (missed cycles : 2).[0m ×2 + 19.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.024287 ms (missed cycles : 2). + 19.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.024287 ms (missed cycles : 2).[0m ×2 + 20.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.109719 ms (missed cycles : 2). + 20.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.109719 ms (missed cycles : 2).[0m ×2 + 21.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.766361 ms (missed cycles : 2). + 21.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.766361 ms (missed cycles : 2).[0m ×2 + 22.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.038795 ms (missed cycles : 2). + 22.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.038795 ms (missed cycles : 2).[0m ×2 + 23.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.893087 ms (missed cycles : 2). + 23.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.893087 ms (missed cycles : 2).[0m ×2 + 25.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.038342 ms (missed cycles : 2). + 25.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.038342 ms (missed cycles : 2).[0m ×2 + 25.49sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1793749131.56190848 seconds ×3 + 26.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object With Approval"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 26.13sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 26.24sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1793749132.30682731 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 26.24sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 26.24sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 26.42sINFOobjective_server_nodeFound path in 0 iterations (3.38e-07 s). ×2 + 26.42sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 26.43sINFOros2_control_node[2026-11-03 23:38:52.501] [info] Received new action goal ×2 + 26.43sINFOros2_control_node[2026-11-03 23:38:52.501] [info] Accepted new action goal ×2 + 28.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.361063 ms (missed cycles : 2). + 28.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.361063 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Live Surface Coverage Demo | live_surface_coverage_demo.xml | 19.9s | 3 errors · 8 warnings · 189 info |
+ 0.00sINFOobjective_server_nodeFound path in 0 iterations (3.28e-07 s). ×2 + 0.00sINFOobjective_server_nodePath shortcutter: [X__X] ×2 + 0.00sINFOobjective_server_nodeFound path in 0 iterations (3.29e-07 s). ×2 + 0.01sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 0.02sINFOobjective_server_nodeFound path in 0 iterations (5.48e-07 s). ×2 + 0.11sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X] ×2 + 0.14sINFOobjective_server_nodeFound path in 1 iterations (0.00321958 s). ×2 + 0.30sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________________________X_________________X] ×2 + 0.36sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 0.37sINFOros2_control_node[2026-11-03 23:36:11.693] [info] Received new action goal ×2 + 0.37sINFOros2_control_node[2026-11-03 23:36:11.693] [info] Accepted new action goal ×2 + 0.80sINFOros2_control_node[2026-11-03 23:36:12.125] [info] Received new action goal ×2 + 0.80sINFOros2_control_node[2026-11-03 23:36:12.125] [info] Accepted new action goal ×2 + 2.12sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.12sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.80sINFOobjective_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 + 2.80sINFOrobotiq_gripper_controllerGot request to cancel goal + 2.80sINFOrobotiq_gripper_controllerCanceling active action goal because cancel callback received. + 2.80sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 2.80sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 2.82sERRORobjective_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: 1793748974.14033818 seconds ×3 + 2.82sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.82sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.82sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.82sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.82sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.83sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.83sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.83sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.83sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.83sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.83sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.83sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.52sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Live Surface Coverage Demo"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.52sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.52sINFOobjective_server_nodeobjective_name: "Live Surface Coverage Demo" ×2 + 3.52sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.52sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.52sINFOobjective_server_nodecaller: ×4 + 3.52sINFOobjective_server_nodetype: 0 ×4 + 3.52sINFOobjective_server_nodename: "" ×4 + 3.52sINFOobjective_server_nodeinstance_id: "" ×4 + 3.52sINFOobjective_server_node ×4 + 3.64sINFOobjective_server_nodeObjective `Live Surface Coverage Demo` starting at time: 1793748974.96551466 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.67sINFOobjective_server_nodeFound path in 0 iterations (2.39e-07 s). ×2 + 4.67sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.68sINFOros2_control_node[2026-11-03 23:36:15.999] [info] Received new action goal ×2 + 4.68sINFOros2_control_node[2026-11-03 23:36:15.999] [info] Accepted new action goal ×2 + 6.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.286461 ms (missed cycles : 5). + 6.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.286461 ms (missed cycles : 5).[0m ×2 + 7.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.823385 ms (missed cycles : 7). + 7.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.823385 ms (missed cycles : 7).[0m ×2 + 8.43sWARNros2_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 + 9.25sINFOobjective_server_nodeGenerateSurfaceCoveragePath Info: Generated 48 coverage poses over the region's +Z face. ×3 + 9.26sINFOobjective_server_nodePlanning for 49 path waypoints. ×3 + 9.31sINFOros2_control_node[2026-11-03 23:36:20.633] [info] Received new action goal ×2 + 9.31sINFOros2_control_node[2026-11-03 23:36:20.633] [info] Accepted new action goal ×2 + 18.72sINFOobjective_server_nodeLogMessage Info: Live coverage recorded. ×3 + 18.83sINFOobjective_server_nodeFound path in 0 iterations (2.91e-07 s). ×2 + 18.84sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 18.85sINFOros2_control_node[2026-11-03 23:36:30.176] [info] Received new action goal ×2 + 18.85sINFOros2_control_node[2026-11-03 23:36:30.176] [info] Accepted new action goal ×2 + 22.77sINFOobjective_server_nodeObjective `Live Surface Coverage Demo` succeeded at time: 1793748994.09122157 seconds ×3 + 23.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load and Execute Joint Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 23.31sINFOobjective_server_nodeobjective_name: "Load and Execute Joint Trajectory" ×2 + 23.45sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1793748994.77706409 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 23.58sINFOobjective_server_nodeFound path in 0 iterations (2.54e-07 s). ×2 + 23.58sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 23.59sINFOros2_control_node[2026-11-03 23:36:34.911] [info] Received new action goal ×2 + 23.59sINFOros2_control_node[2026-11-03 23:36:34.911] [info] Accepted new action goal ×2 + 26.06sINFOros2_control_node[2026-11-03 23:36:37.381] [info] Received new action goal ×2 + 26.06sINFOros2_control_node[2026-11-03 23:36:37.381] [info] Accepted new action goal ×2 | ||||
| ✓ passed | Pick April Tag Labeled Object | apriltag_pick_object.xml | 14.2s | 3 errors · 37 warnings · 268 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.679903 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.679903 ms (missed cycles : 6).[0m ×2 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.718213 ms (missed cycles : 3). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.718213 ms (missed cycles : 3).[0m ×2 + 1.59sINFOobjective_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 + 1.60sERRORobjective_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: 1793748925.52995872 seconds ×3 + 1.60sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.60sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.60sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 1.61sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.61sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 1.61sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.61sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.61sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 1.61sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.61sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.62sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.62sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.83sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 2.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.15sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 2.15sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.15sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 2.15sINFOobjective_server_nodeparameter_overrides: [] ×8 + 2.15sINFOobjective_server_nodecaller: ×8 + 2.15sINFOobjective_server_nodetype: 0 ×8 + 2.15sINFOobjective_server_nodename: "" ×8 + 2.15sINFOobjective_server_nodeinstance_id: "" ×8 + 2.15sINFOobjective_server_node ×8 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.386393 ms (missed cycles : 4). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.386393 ms (missed cycles : 4).[0m ×2 + 2.22sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1793748926.14867496 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.34sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1793748926.26883030 seconds ×3 + 2.97sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.98sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.04sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1793748926.97044587 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.04sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.04sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.13sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 3.22sINFOobjective_server_nodeFound path in 0 iterations (2.34e-07 s). ×2 + 3.22sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.23sINFOros2_control_node[2026-11-03 23:35:27.165] [info] Received new action goal ×2 + 3.23sINFOros2_control_node[2026-11-03 23:35:27.165] [info] Accepted new action goal ×2 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681778 ms (missed cycles : 2). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681778 ms (missed cycles : 2).[0m ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879247 ms (missed cycles : 2). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879247 ms (missed cycles : 2).[0m ×2 + 7.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.384093 ms (missed cycles : 2). + 7.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.384093 ms (missed cycles : 2).[0m ×2 + 7.79sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 8.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.080634 ms (missed cycles : 2). + 8.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.080634 ms (missed cycles : 2).[0m ×2 + 9.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.484106 ms (missed cycles : 2). + 9.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.484106 ms (missed cycles : 2).[0m ×2 + 10.65sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 10.65sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 10.65sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 10.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.244981 ms (missed cycles : 2). + 10.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.244981 ms (missed cycles : 2).[0m ×2 + 10.94sINFOobjective_server_nodeFound path in 0 iterations (4.25e-07 s). ×2 + 10.95sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 10.96sINFOobjective_server_nodeFound path in 0 iterations (3.73e-07 s). ×2 + 10.96sINFOobjective_server_nodePath shortcutter: [X_______________X] ×2 + 10.97sINFOobjective_server_nodeFound path in 0 iterations (2.89e-07 s). ×2 + 11.06sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 11.09sINFOobjective_server_nodeFound path in 1 iterations (0.00374849 s). ×2 + 11.24sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________________X__________________X] ×2 + 11.33sINFOros2_control_node[2026-11-03 23:35:35.263] [info] Received new action goal ×2 + 11.33sINFOros2_control_node[2026-11-03 23:35:35.263] [info] Accepted new action goal ×2 + 11.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.327863 ms (missed cycles : 4). + 11.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.327863 ms (missed cycles : 4).[0m ×2 + 13.63sINFOros2_control_node[2026-11-03 23:35:37.566] [info] Received new action goal ×2 + 13.63sINFOros2_control_node[2026-11-03 23:35:37.566] [info] Accepted new action goal ×2 + 15.30sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 15.31sINFOros2_control_node[2026-11-03 23:35:39.238] [info] Received new action goal ×2 + 15.31sINFOros2_control_node[2026-11-03 23:35:39.238] [info] Accepted new action goal ×2 + 16.60sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1793748940.53447151 seconds ×3 + 16.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.785705 ms (missed cycles : 2). + 16.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.785705 ms (missed cycles : 2).[0m ×2 + 17.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 17.14sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 17.22sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1793748941.15409803 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 17.31sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1793748941.24425745 seconds ×3 + 17.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 17.90sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 17.97sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1793748941.90074921 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 18.07sINFOobjective_server_nodeFound path in 0 iterations (2.45e-07 s). ×2 + 18.08sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 18.09sINFOros2_control_node[2026-11-03 23:35:42.025] [info] Received new action goal ×2 + 18.09sINFOros2_control_node[2026-11-03 23:35:42.025] [info] Accepted new action goal ×2 | ||||
| ✓ passed | Load and Execute Joint Trajectory | load_and_execute_joint_trajectory.xml | 11.9s | 3 warnings · 203 info |
+ 0.00sINFOobjective_server_nodeObjective `Live Surface Coverage Demo` succeeded at time: 1793748994.09122157 seconds ×3 + 0.00sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.01sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.01sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.02sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.02sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load and Execute Joint Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.54sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 0.54sINFOobjective_server_nodeobjective_name: "Load and Execute Joint Trajectory" ×2 + 0.54sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 0.54sINFOobjective_server_nodeparameter_overrides: [] ×6 + 0.54sINFOobjective_server_nodecaller: ×6 + 0.54sINFOobjective_server_nodetype: 0 ×6 + 0.54sINFOobjective_server_nodename: "" ×6 + 0.54sINFOobjective_server_nodeinstance_id: "" ×6 + 0.54sINFOobjective_server_node ×6 + 0.69sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1793748994.77706409 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.71sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.81sINFOobjective_server_nodeFound path in 0 iterations (2.54e-07 s). ×2 + 0.81sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 0.82sINFOros2_control_node[2026-11-03 23:36:34.911] [info] Received new action goal ×2 + 0.82sINFOros2_control_node[2026-11-03 23:36:34.911] [info] Accepted new action goal ×2 + 3.29sINFOros2_control_node[2026-11-03 23:36:37.381] [info] Received new action goal ×2 + 3.29sINFOros2_control_node[2026-11-03 23:36:37.381] [info] Accepted new action goal ×2 + 11.86sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1793749005.95246959 seconds ×3 + 12.40sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load MuJoCo Robot State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 12.40sINFOobjective_server_nodeobjective_name: "Load MuJoCo Robot State" ×2 + 12.46sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1793749006.54734397 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 12.50sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 12.50sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 12.51sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 12.51sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 12.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.697662 ms (missed cycles : 3). + 12.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.697662 ms (missed cycles : 3).[0m ×2 + 12.53sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1793749006.61753941 seconds ×3 + 13.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 13.26sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 13.32sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1793749007.40948057 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 13.42sINFOobjective_server_nodeFound path in 0 iterations (4.08e-07 s). ×2 + 13.43sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 13.43sINFOros2_control_node[2026-11-03 23:36:47.523] [info] Received new action goal ×2 + 13.43sINFOros2_control_node[2026-11-03 23:36:47.523] [info] Accepted new action goal ×2 + 15.44sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1793749009.52964664 seconds ×3 | ||||
| ✓ passed | Push Button | move_with_velocity_and_force.xml | 11.6s | 15 warnings · 220 info |
+ 0.00sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: velocity_force_controller ×6 + 0.00sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 0.00sINFOcontroller_managerDeactivating controllers: [ velocity_force_controller ] ×2 + 0.00sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 0.00sINFOros2_control_nodeDeactivating controllers: [ velocity_force_controller ][0m ×4 + 0.00sINFOcontroller_managerDeactivated controllers: [ velocity_force_controller ] ×2 + 0.00sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 0.00sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.00sINFOros2_control_nodeDeactivated controllers: [ velocity_force_controller ][0m ×4 + 0.00sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 0.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.90sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.91sINFOros2_control_node[2026-11-03 23:37:32.178] [info] Received new action goal ×2 + 0.91sINFOros2_control_node[2026-11-03 23:37:32.178] [info] Accepted new action goal ×2 + 2.07sINFOobjective_server_nodeObjective `Move Flasks to Burners` succeeded at time: 1793749053.33355427 seconds ×3 + 2.10sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.10sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.10sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.10sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Push Button"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.64sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.64sINFOobjective_server_nodeobjective_name: "Push Button" ×2 + 2.64sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.64sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.64sINFOobjective_server_nodecaller: ×4 + 2.64sINFOobjective_server_nodetype: 0 ×4 + 2.64sINFOobjective_server_nodename: "" ×4 + 2.64sINFOobjective_server_nodeinstance_id: "" ×4 + 2.64sINFOobjective_server_node ×4 + 2.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.722901 ms (missed cycles : 2). + 2.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.722901 ms (missed cycles : 2).[0m ×2 + 2.86sINFOobjective_server_nodeObjective `Push Button` starting at time: 1793749054.12734556 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.78sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.88sINFOobjective_server_nodeFound path in 0 iterations (3.48e-07 s). ×2 + 3.90sINFOobjective_server_nodePath shortcutter: [X___________________________X] ×2 + 3.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.696221 ms (missed cycles : 2). + 3.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.696221 ms (missed cycles : 2).[0m ×2 + 3.91sINFOros2_control_node[2026-11-03 23:37:35.172] [info] Received new action goal ×2 + 3.91sINFOros2_control_node[2026-11-03 23:37:35.173] [info] Accepted new action goal ×2 + 7.60sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×6 + 7.60sINFOcontroller_managerActivating controllers: [ velocity_force_controller ] + 7.61sINFOcontroller_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 + 9.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739139 ms (missed cycles : 2). + 9.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739139 ms (missed cycles : 2).[0m ×2 + 10.03sINFOobjective_server_nodeFound path in 0 iterations (2.62e-07 s). ×2 + 10.05sINFOobjective_server_nodePath shortcutter: [X_________________________X] ×2 + 10.06sINFOros2_control_node[2026-11-03 23:37:41.325] [info] Received new action goal ×2 + 10.06sINFOros2_control_node[2026-11-03 23:37:41.325] [info] Accepted new action goal ×2 + 13.66sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1793749064.92988229 seconds ×3 + 14.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.21sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample" ×2 + 14.28sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1793749065.54466391 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.44sINFOobjective_server_nodeFound path in 0 iterations (2.27e-07 s). ×2 + 14.45sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 14.45sINFOros2_control_node[2026-11-03 23:37:45.718] [info] Received new action goal ×2 + 14.45sINFOros2_control_node[2026-11-03 23:37:45.718] [info] Accepted new action goal ×2 + 15.72sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.16727752384940525;y=0.47323919871065;z=0.7971805284211555, orientation: x=0.5894248519484582;y=0.7987881401812754;z=0.09721280806199328;w=-0.07117247333048911 ×3 + 15.73sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 15.81sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 15.81sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 15.81sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 15.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 15.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.742295 ms (missed cycles : 2). + 15.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.742295 ms (missed cycles : 2).[0m ×2 + 16.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796452 ms (missed cycles : 2). + 16.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796452 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Grasp Pose Tuning With April Tag | grasp_pose_tuning_with_april_tag.xml | 11.1s | 9 errors · 20 warnings · 193 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 0.11sINFOobjective_server_nodeFound path in 0 iterations (5.63e-07 s). ×2 + 0.11sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.12sINFOros2_control_node[2026-11-03 23:35:50.082] [info] Received new action goal ×2 + 0.12sINFOros2_control_node[2026-11-03 23:35:50.082] [info] Accepted new action goal ×2 + 2.06sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.06sINFOros2_control_node[2026-11-03 23:35:52.021] [info] Got request to cancel active goal. ×2 + 2.06sINFOros2_control_node[2026-11-03 23:35:52.021] [info] Canceling active goal... ×2 + 2.07sERRORobjective_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: 1793748952.03386140 seconds ×3 + 2.11sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.11sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.11sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.11sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.11sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.11sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.12sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.12sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.64sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.64sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.64sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.64sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.64sINFOobjective_server_nodecaller: ×4 + 2.64sINFOobjective_server_nodetype: 0 ×4 + 2.64sINFOobjective_server_nodename: "" ×4 + 2.64sINFOobjective_server_nodeinstance_id: "" ×4 + 2.64sINFOobjective_server_node ×4 + 2.72sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1793748952.68213391 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.72sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.72sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.91sINFOobjective_server_nodeFound path in 0 iterations (3.68e-07 s). ×2 + 2.91sINFOobjective_server_nodePath shortcutter: [X_______X] ×4 + 2.92sINFOros2_control_node[2026-11-03 23:35:52.886] [info] Received new action goal ×2 + 2.92sINFOros2_control_node[2026-11-03 23:35:52.886] [info] Accepted new action goal ×2 + 4.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.686723 ms (missed cycles : 2). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.686723 ms (missed cycles : 2).[0m ×2 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.070482 ms (missed cycles : 4). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.070482 ms (missed cycles : 4).[0m ×2 + 6.60sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 6.60sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 6.60sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 6.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.538872 ms (missed cycles : 6). + 6.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.538872 ms (missed cycles : 6).[0m ×2 + 6.88sINFOobjective_server_nodeFound path in 0 iterations (6.76e-07 s). ×2 + 6.88sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 6.88sINFOobjective_server_nodeFound path in 0 iterations (3.59e-07 s). ×2 + 6.89sINFOobjective_server_nodePath shortcutter: [X_______________X] ×2 + 6.90sINFOobjective_server_nodeFound path in 0 iterations (4.97e-07 s). ×2 + 6.93sINFOobjective_server_nodePath shortcutter: [X_________________________________X] ×2 + 6.95sINFOobjective_server_nodeFound path in 0 iterations (3.99e-07 s). ×2 + 7.04sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 7.06sINFOobjective_server_nodeFound path in 5 iterations (0.00550595 s). ×2 + 7.17sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________X_X_______________________X] ×2 + 7.19sINFOobjective_server_nodeFound path in 0 iterations (2.88e-07 s). ×2 + 7.29sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X] ×2 + 7.31sINFOobjective_server_nodeFound path in 0 iterations (2.43e-07 s). ×2 + 7.48sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X] ×2 + 7.51sINFOobjective_server_nodeFound path in 0 iterations (3.13e-07 s). ×2 + 7.65sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________X] ×2 + 7.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.786755 ms (missed cycles : 2). + 7.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.786755 ms (missed cycles : 2).[0m ×2 + 7.79sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×2 + 7.80sINFOros2_control_node[2026-11-03 23:35:57.759] [info] Received new action goal ×2 + 7.80sINFOros2_control_node[2026-11-03 23:35:57.759] [info] Accepted new action goal ×2 + 10.06sINFOparameter_manager_nodeRetrieving pose from parameter manager. ×3 + 10.33sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal. + 10.33sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal.[0m ×2 + 10.33sERRORobjective_server_nodeDoTeleoperateAction Error: Failed to send goal request to action server 'do_teleoperate': Goal request was rejected by the action server ×3 + 10.36sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Tuning With April Tag` did not succeed at time: 1793748960.32415175 seconds ×3 + 10.36sINFOobjective_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 + 11.03sINFOros2_control_nodeMuJoCo sim: 0.07% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 13.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Using Yaml"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 13.72sINFOobjective_server_nodeobjective_name: "Grasp Pose Using Yaml" ×2 + 13.81sINFOobjective_server_nodeObjective `Grasp Pose Using Yaml` starting at time: 1793748963.77656364 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.01sINFOobjective_server_nodeFound path in 0 iterations (2.54e-07 s). ×2 + 14.03sINFOros2_control_node[2026-11-03 23:36:03.990] [info] Received new action goal ×2 + 14.03sINFOros2_control_node[2026-11-03 23:36:03.990] [info] Accepted new action goal ×2 + 16.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.116547 ms (missed cycles : 4). + 16.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.116547 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | 3 Waypoints Pick and Place | 3_waypoint_pick_and_place.xml | 11.0s | 3 errors · 6 warnings · 426 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793748900.57799482 seconds ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.03sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.04sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.04sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.04sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.04sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.41sINFOros2_control_nodeMuJoCo sim: 0.06% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 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: 1793748901.19387889 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: 1793748901.25405955 seconds ×3 + 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: 1793748901.91679287 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.36sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793748901.93694973 seconds ×3 + 1.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.89sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793748902.53058195 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.10sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793748902.68142056 seconds ×3 + 2.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.73sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793748903.37923169 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.82sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.82sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 2.83sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.83sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.83sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750096 ms (missed cycles : 3). + 2.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750096 ms (missed cycles : 3).[0m ×2 + 2.85sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793748903.42940521 seconds ×3 + 3.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.47sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.57sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1793748904.15224528 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.59sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.59sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.59sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.59sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.59sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.59sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.59sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.59sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.69sINFOobjective_server_nodeFound path in 0 iterations (2.1193e-05 s). ×2 + 3.69sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 3.71sINFOros2_control_node[2026-11-03 23:35:04.289] [info] Received new action goal ×2 + 3.71sINFOros2_control_node[2026-11-03 23:35:04.289] [info] Accepted new action goal ×2 + 6.11sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×15 + 6.20sINFOobjective_server_nodeFound path in 0 iterations (2.49e-07 s). ×2 + 6.21sINFOobjective_server_nodePath shortcutter: [X___________________X] ×4 + 6.22sINFOros2_control_node[2026-11-03 23:35:06.797] [info] Received new action goal ×2 + 6.22sINFOros2_control_node[2026-11-03 23:35:06.797] [info] Accepted new action goal ×2 + 9.84sINFOobjective_server_nodeFound path in 0 iterations (4.23e-07 s). ×2 + 9.86sINFOros2_control_node[2026-11-03 23:35:10.437] [info] Received new action goal ×2 + 9.86sINFOros2_control_node[2026-11-03 23:35:10.437] [info] Accepted new action goal ×2 + 13.17sINFOobjective_server_nodeFound path in 0 iterations (2.92e-07 s). ×2 + 13.18sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 13.19sINFOros2_control_node[2026-11-03 23:35:13.767] [info] Received new action goal ×2 + 13.19sINFOros2_control_node[2026-11-03 23:35:13.767] [info] Accepted new action goal ×2 + 13.94sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 13.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679608 ms (missed cycles : 2). + 13.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679608 ms (missed cycles : 2).[0m ×2 + 13.95sINFOros2_control_node[2026-11-03 23:35:14.522] [info] Got request to cancel active goal. ×2 + 13.95sINFOros2_control_node[2026-11-03 23:35:14.522] [info] Canceling active goal... ×2 + 13.96sERRORobjective_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: 1793748914.53996086 seconds ×3 + 13.97sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 13.97sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 13.98sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 13.98sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 13.98sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 13.98sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 14.50sINFOobjective_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: ""
+ 14.50sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place with AprilTags" ×2 + 14.60sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place with AprilTags` starting at time: 1793748915.17904043 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.84sINFOobjective_server_nodeFound path in 0 iterations (2.68e-07 s). ×2 + 14.86sINFOros2_control_node[2026-11-03 23:35:15.433] [info] Received new action goal ×2 + 14.86sINFOros2_control_node[2026-11-03 23:35:15.433] [info] Accepted new action goal ×2 + 17.13sINFOobjective_server_nodeFound path in 0 iterations (2.21e-07 s). ×2 + 17.14sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 17.15sINFOros2_control_node[2026-11-03 23:35:17.723] [info] Received new action goal ×2 + 17.15sINFOros2_control_node[2026-11-03 23:35:17.723] [info] Accepted new action goal ×2 | ||||
| ✓ passed | Grasp Pose Using Yaml | grasp_pose_using_yaml.xml | 11.0s | 9 errors · 12 warnings · 214 info |
+ 0.00sINFOparameter_manager_nodeRetrieving pose from parameter manager. ×3 + 0.26sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal. + 0.26sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal.[0m ×2 + 0.27sERRORobjective_server_nodeDoTeleoperateAction Error: Failed to send goal request to action server 'do_teleoperate': Goal request was rejected by the action server ×3 + 0.30sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Tuning With April Tag` did not succeed at time: 1793748960.32415175 seconds ×3 + 0.30sINFOobjective_server_nodeObjective failure records are not written: /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/lab_sim/test_results/lab_sim/ros_logs/moveit_pro_runs/latest does not name a run started by `moveit_pro run`. ×3 + 0.97sINFOros2_control_nodeMuJoCo sim: 0.07% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.10sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.10sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.10sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.10sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.10sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.10sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.11sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.11sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Using Yaml"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.66sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.66sINFOobjective_server_nodeobjective_name: "Grasp Pose Using Yaml" ×2 + 3.66sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.66sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.66sINFOobjective_server_nodecaller: ×4 + 3.66sINFOobjective_server_nodetype: 0 ×4 + 3.66sINFOobjective_server_nodename: "" ×4 + 3.66sINFOobjective_server_nodeinstance_id: "" ×4 + 3.66sINFOobjective_server_node ×4 + 3.75sINFOobjective_server_nodeObjective `Grasp Pose Using Yaml` starting at time: 1793748963.77656364 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 3.76sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 3.86sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 3.95sINFOobjective_server_nodeFound path in 0 iterations (2.54e-07 s). ×2 + 3.95sINFOobjective_server_nodePath shortcutter: [X_______X] ×4 + 3.97sINFOros2_control_node[2026-11-03 23:36:03.990] [info] Received new action goal ×2 + 3.97sINFOros2_control_node[2026-11-03 23:36:03.990] [info] Accepted new action goal ×2 + 6.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.116547 ms (missed cycles : 4). + 6.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.116547 ms (missed cycles : 4).[0m ×2 + 7.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.811131 ms (missed cycles : 2). + 7.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.811131 ms (missed cycles : 2).[0m ×2 + 7.61sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 7.62sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 7.62sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 7.90sINFOobjective_server_nodeFound path in 0 iterations (3.36e-07 s). ×2 + 7.90sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 7.90sINFOobjective_server_nodeFound path in 0 iterations (2.66e-07 s). ×2 + 7.91sINFOobjective_server_nodePath shortcutter: [X_______________X] ×2 + 7.92sINFOobjective_server_nodeFound path in 0 iterations (2.99e-07 s). ×2 + 7.95sINFOobjective_server_nodePath shortcutter: [X_________________________________X] ×2 + 7.96sINFOobjective_server_nodeFound path in 0 iterations (2.82e-07 s). ×2 + 8.04sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 8.06sINFOobjective_server_nodeFound path in 1 iterations (0.00382614 s). ×2 + 8.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.558128 ms (missed cycles : 2). + 8.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.558128 ms (missed cycles : 2).[0m ×2 + 8.19sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________X___________________________X] ×2 + 8.21sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 8.31sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X] ×4 + 8.32sINFOobjective_server_nodeFound path in 0 iterations (2.19e-07 s). ×2 + 8.48sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X] ×2 + 8.49sINFOobjective_server_nodeFound path in 0 iterations (2.93e-07 s). ×2 + 8.63sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________X] ×2 + 8.77sINFOros2_control_node[2026-11-03 23:36:08.794] [info] Received new action goal ×2 + 8.77sINFOros2_control_node[2026-11-03 23:36:08.794] [info] Accepted new action goal ×2 + 11.30sINFOobjective_server_nodeFound path in 0 iterations (3.28e-07 s). ×2 + 11.30sINFOobjective_server_nodePath shortcutter: [X__X] ×2 + 11.30sINFOobjective_server_nodeFound path in 0 iterations (3.29e-07 s). ×2 + 11.31sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 11.32sINFOobjective_server_nodeFound path in 0 iterations (5.48e-07 s). ×2 + 11.44sINFOobjective_server_nodeFound path in 1 iterations (0.00321958 s). ×2 + 11.60sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________________________X_________________X] ×2 + 11.67sINFOros2_control_node[2026-11-03 23:36:11.693] [info] Received new action goal ×2 + 11.67sINFOros2_control_node[2026-11-03 23:36:11.693] [info] Accepted new action goal ×2 + 12.10sINFOros2_control_node[2026-11-03 23:36:12.125] [info] Received new action goal ×2 + 12.10sINFOros2_control_node[2026-11-03 23:36:12.125] [info] Accepted new action goal ×2 + 14.10sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.10sINFOrobotiq_gripper_controllerGot request to cancel goal + 14.10sINFOrobotiq_gripper_controllerCanceling active action goal because cancel callback received. + 14.10sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 14.10sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 14.12sERRORobjective_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: 1793748974.14033818 seconds ×3 + 14.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Live Surface Coverage Demo"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.82sINFOobjective_server_nodeobjective_name: "Live Surface Coverage Demo" ×2 + 14.94sINFOobjective_server_nodeObjective `Live Surface Coverage Demo` starting at time: 1793748974.96551466 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.97sINFOobjective_server_nodeFound path in 0 iterations (2.39e-07 s). ×2 + 15.98sINFOros2_control_node[2026-11-03 23:36:15.999] [info] Received new action goal ×2 + 15.98sINFOros2_control_node[2026-11-03 23:36:15.999] [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 + 0.10sINFOobjective_server_nodeFound path in 0 iterations (2.92e-07 s). ×2 + 0.11sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 0.11sINFOros2_control_node[2026-11-03 23:35:13.767] [info] Received new action goal ×2 + 0.11sINFOros2_control_node[2026-11-03 23:35:13.767] [info] Accepted new action goal ×2 + 0.87sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×6 + 0.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679608 ms (missed cycles : 2). + 0.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679608 ms (missed cycles : 2).[0m ×2 + 0.87sINFOros2_control_node[2026-11-03 23:35:14.522] [info] Got request to cancel active goal. ×2 + 0.87sINFOros2_control_node[2026-11-03 23:35:14.522] [info] Canceling active goal... ×2 + 0.89sERRORobjective_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: 1793748914.53996086 seconds ×3 + 0.89sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 0.89sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 0.89sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 0.89sINFOcontroller_managerSuccessfully switched controllers! ×6 + 0.89sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 0.89sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 0.90sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 0.90sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.90sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 0.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 0.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 0.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 1.42sINFOobjective_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: ""
+ 1.42sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 1.42sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place with AprilTags" ×2 + 1.42sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 1.42sINFOobjective_server_nodeparameter_overrides: [] ×6 + 1.42sINFOobjective_server_nodecaller: ×6 + 1.42sINFOobjective_server_nodetype: 0 ×6 + 1.42sINFOobjective_server_nodename: "" ×6 + 1.43sINFOobjective_server_nodeinstance_id: "" ×6 + 1.43sINFOobjective_server_node ×6 + 1.52sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place with AprilTags` starting at time: 1793748915.17904043 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.77sINFOobjective_server_nodeFound path in 0 iterations (2.68e-07 s). ×2 + 1.77sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 1.78sINFOros2_control_node[2026-11-03 23:35:15.433] [info] Received new action goal ×2 + 1.78sINFOros2_control_node[2026-11-03 23:35:15.433] [info] Accepted new action goal ×2 + 3.86sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.86sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 4.06sINFOobjective_server_nodeFound path in 0 iterations (2.21e-07 s). ×2 + 4.06sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.07sINFOros2_control_node[2026-11-03 23:35:17.723] [info] Received new action goal ×2 + 4.07sINFOros2_control_node[2026-11-03 23:35:17.723] [info] Accepted new action goal ×2 + 7.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.557606 ms (missed cycles : 3). + 7.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.557606 ms (missed cycles : 3).[0m ×2 + 8.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.514825 ms (missed cycles : 7). + 8.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.514825 ms (missed cycles : 7).[0m ×2 + 8.09sWARNros2_control_nodeCamera render tick took 1.39 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 9.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.050818 ms (missed cycles : 2). + 9.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.050818 ms (missed cycles : 2).[0m ×2 + 10.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.679903 ms (missed cycles : 6). + 10.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.679903 ms (missed cycles : 6).[0m ×2 + 11.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.718213 ms (missed cycles : 3). + 11.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.718213 ms (missed cycles : 3).[0m ×2 + 11.88sERRORobjective_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: 1793748925.52995872 seconds ×3 + 12.11sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 12.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 12.43sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 12.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.386393 ms (missed cycles : 4). + 12.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.386393 ms (missed cycles : 4).[0m ×2 + 12.49sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1793748926.14867496 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 12.61sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1793748926.26883030 seconds ×3 + 13.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 13.25sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 13.32sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1793748926.97044587 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 13.50sINFOobjective_server_nodeFound path in 0 iterations (2.34e-07 s). ×2 + 13.50sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 13.51sINFOros2_control_node[2026-11-03 23:35:27.165] [info] Received new action goal ×2 + 13.51sINFOros2_control_node[2026-11-03 23:35:27.165] [info] Accepted new action goal ×2 + 15.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681778 ms (missed cycles : 2). + 15.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681778 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Plan and Save Trajectory | plan_and_save_trajectory.xml | 11.0s | 3 errors · 141 info |
+ 0.00sINFOros2_control_node[2026-11-03 23:38:59.557] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-11-03 23:38:59.557] [info] Accepted new action goal ×2 + 1.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.44sINFOros2_control_nodeMuJoCo sim: 0.04% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.65sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.66sINFOros2_control_node[2026-11-03 23:39:01.221] [info] Received new action goal ×2 + 1.67sINFOros2_control_node[2026-11-03 23:39:01.221] [info] Accepted new action goal ×2 + 2.96sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1793749142.51703954 seconds ×3 + 3.00sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.00sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.00sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.00sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.00sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.01sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.01sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.53sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.53sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.53sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.53sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.53sINFOobjective_server_nodecaller: ×4 + 3.53sINFOobjective_server_nodetype: 0 ×4 + 3.53sINFOobjective_server_nodename: "" ×4 + 3.53sINFOobjective_server_nodeinstance_id: "" ×4 + 3.53sINFOobjective_server_node ×4 + 3.64sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1793749143.19579220 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.71sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.81sINFOobjective_server_nodeFound path in 0 iterations (2.32e-07 s). ×2 + 3.81sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.82sINFOros2_control_node[2026-11-03 23:39:03.380] [info] Received new action goal ×2 + 3.82sINFOros2_control_node[2026-11-03 23:39:03.380] [info] Accepted new action goal ×2 + 5.73sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 13.96sINFOobjective_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 + 13.97sERRORobjective_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: 1793749153.52625251 seconds ×3 + 14.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Playback Square Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.53sINFOobjective_server_nodeobjective_name: "Playback Square Trajectory" ×2 + 14.59sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1793749154.15135837 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.88sINFOobjective_server_nodeFound path in 0 iterations (2.78e-07 s). ×2 + 14.89sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 14.90sINFOros2_control_node[2026-11-03 23:39:14.461] [info] Received new action goal ×2 + 14.90sINFOros2_control_node[2026-11-03 23:39:14.461] [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: 1793749164.06456089 seconds ×3 + 0.01sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 0.01sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 0.01sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×4 + 0.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 0.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 0.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 0.03sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 0.03sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 0.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Record and Replay Scanning Motion"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.54sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.54sINFOobjective_server_nodeobjective_name: "Record and Replay Scanning Motion" ×2 + 0.54sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.54sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.54sINFOobjective_server_nodecaller: ×4 + 0.54sINFOobjective_server_nodetype: 0 ×4 + 0.54sINFOobjective_server_nodename: "" ×4 + 0.54sINFOobjective_server_nodeinstance_id: "" ×4 + 0.54sINFOobjective_server_node ×4 + 0.63sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1793749164.69235754 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.64sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.74sINFOobjective_server_nodeFound path in 0 iterations (3.55e-07 s). ×2 + 0.74sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 0.75sINFOros2_control_node[2026-11-03 23:39:24.816] [info] Received new action goal ×2 + 0.75sINFOros2_control_node[2026-11-03 23:39:24.816] [info] Accepted new action goal ×2 + 2.66sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 10.96sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 10.96sERRORobjective_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: 1793749175.02272344 seconds ×3 + 11.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Record Square Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 11.51sINFOobjective_server_nodeobjective_name: "Record Square Trajectory" ×2 + 11.58sINFOobjective_server_nodeObjective `Record Square Trajectory` starting at time: 1793749175.64769363 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 11.72sINFOobjective_server_nodeFound path in 0 iterations (3.14e-07 s). ×2 + 11.73sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 11.75sINFOros2_control_node[2026-11-03 23:39:35.813] [info] Received new action goal ×2 + 11.75sINFOros2_control_node[2026-11-03 23:39:35.813] [info] Accepted new action goal ×2 | ||||
| ✓ passed | Pick April Tag Labeled Object With Approval | pick_april_tag_object_with_approval.xml | 10.9s | 20 warnings · 2616 info |
+ 0.00sINFOros2_control_nodeReceived new action goal[0m ×806 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×806 + 0.01sINFOjoint_trajectory_controllerReceived new action goal ×402 + 0.01sINFOjoint_trajectory_controllerAccepted new action goal ×402 + 0.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.038795 ms (missed cycles : 2). + 0.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.038795 ms (missed cycles : 2).[0m ×2 + 1.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.893087 ms (missed cycles : 2). + 1.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.893087 ms (missed cycles : 2).[0m ×2 + 2.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.038342 ms (missed cycles : 2). + 2.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.038342 ms (missed cycles : 2).[0m ×2 + 3.37sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1793749131.56190848 seconds ×3 + 3.37sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.37sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.37sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.37sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.47sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.47sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.47sINFOcontroller_managerSuccessfully switched controllers! ×5 + 3.47sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.47sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.47sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 3.48sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.48sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.48sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.48sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.48sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.48sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object With Approval"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.01sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 4.01sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 4.01sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 4.01sINFOobjective_server_nodeparameter_overrides: [] ×4 + 4.01sINFOobjective_server_nodecaller: ×4 + 4.01sINFOobjective_server_nodetype: 0 ×4 + 4.01sINFOobjective_server_nodename: "" ×4 + 4.01sINFOobjective_server_nodeinstance_id: "" ×4 + 4.01sINFOobjective_server_node ×4 + 4.11sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1793749132.30682731 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.12sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 4.12sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 4.20sINFOobjective_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 + 4.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.20sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.21sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.21sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.21sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.30sINFOobjective_server_nodeFound path in 0 iterations (3.38e-07 s). ×2 + 4.30sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.31sINFOros2_control_node[2026-11-03 23:38:52.501] [info] Received new action goal ×2 + 4.31sINFOros2_control_node[2026-11-03 23:38:52.501] [info] Accepted new action goal ×2 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.361063 ms (missed cycles : 2). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.361063 ms (missed cycles : 2).[0m ×2 + 7.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.778917 ms (missed cycles : 2). + 7.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.778917 ms (missed cycles : 2).[0m ×2 + 8.34sWARNros2_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 + 8.41sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 8.41sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 8.41sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 8.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.033430 ms (missed cycles : 2). + 8.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.033430 ms (missed cycles : 2).[0m ×2 + 8.69sINFOobjective_server_nodeFound path in 0 iterations (4.55e-07 s). ×2 + 8.69sINFOobjective_server_nodePath shortcutter: [X_________X] ×4 + 8.71sINFOobjective_server_nodeFound path in 0 iterations (4.39e-07 s). ×2 + 8.71sINFOobjective_server_nodePath shortcutter: [X_______________X] ×2 + 8.72sINFOobjective_server_nodeFound path in 0 iterations (3.32e-07 s). ×2 + 8.81sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 8.83sINFOobjective_server_nodeFound path in 1 iterations (0.00356986 s). ×2 + 8.98sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________________X__________________X] ×2 + 9.04sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×3 + 9.04sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 9.06sINFOros2_control_node[2026-11-03 23:38:57.254] [info] Received new action goal ×2 + 9.06sINFOros2_control_node[2026-11-03 23:38:57.254] [info] Accepted new action goal ×2 + 11.36sINFOros2_control_node[2026-11-03 23:38:59.557] [info] Received new action goal ×2 + 11.36sINFOros2_control_node[2026-11-03 23:38:59.557] [info] Accepted new action goal ×2 + 12.80sINFOros2_control_nodeMuJoCo sim: 0.04% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 13.01sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 13.03sINFOros2_control_node[2026-11-03 23:39:01.221] [info] Received new action goal ×2 + 13.03sINFOros2_control_node[2026-11-03 23:39:01.221] [info] Accepted new action goal ×2 + 14.32sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1793749142.51703954 seconds ×3 + 14.36sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 14.36sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 14.37sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 14.37sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 14.37sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 14.37sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 14.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.89sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 15.00sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1793749143.19579220 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.17sINFOobjective_server_nodeFound path in 0 iterations (2.32e-07 s). ×2 + 15.19sINFOros2_control_node[2026-11-03 23:39:03.380] [info] Received new action goal ×2 + 15.19sINFOros2_control_node[2026-11-03 23:39:03.380] [info] Accepted new action goal ×2 + 17.09sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| ✓ passed | Stationary Admittance | stationary_admittance.xml | 10.7s | 3 errors · 14 warnings · 376 info |
+ 0.00sINFOobjective_server_nodeObjective `Record Surface Coverage Demo` succeeded at time: 1793749219.72545481 seconds ×3 + 0.10sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×8 + 0.10sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×16 + 0.10sINFOcontroller_managerRequested controller switch from non-realtime loop ×13 + 0.10sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.10sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×26 + 0.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×7 + 0.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×14 + 0.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×7 + 0.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×14 + 0.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.64sINFOobjective_server_nodeReceived /do_objective goal: ×12 + 0.64sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 0.64sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 0.64sINFOobjective_server_nodeparameter_overrides: [] ×12 + 0.64sINFOobjective_server_nodecaller: ×12 + 0.64sINFOobjective_server_nodetype: 0 ×12 + 0.64sINFOobjective_server_nodename: "" ×12 + 0.64sINFOobjective_server_nodeinstance_id: "" ×12 + 0.64sINFOobjective_server_node ×12 + 0.87sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1793749220.59074426 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.89sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 0.89sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 0.91sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 0.91sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 0.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.886265 ms (missed cycles : 3). + 0.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.886265 ms (missed cycles : 3).[0m ×2 + 0.93sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1793749220.65091968 seconds ×3 + 1.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.47sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 1.53sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1793749221.25074363 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.55sINFOobjective_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 + 1.55sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1793749221.27251124 seconds ×3 + 2.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.19sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 2.25sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1793749221.98015809 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 2.38sINFOobjective_server_nodeFound path in 0 iterations (3.33e-07 s). ×2 + 2.38sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 2.39sINFOros2_control_node[2026-11-03 23:40:22.114] [info] Received new action goal ×2 + 2.39sINFOros2_control_node[2026-11-03 23:40:22.114] [info] Accepted new action goal ×2 + 5.70sINFOobjective_server_nodeLogMessage Info: Running admittance mode for 10 seconds ×3 + 5.70sINFOros2_control_node[2026-11-03 23:40:25.424] [info] Received new action goal ×2 + 5.70sINFOros2_control_node[2026-11-03 23:40:25.424] [info] Accepted new action goal ×2 + 5.70sINFOros2_control_node[2026-11-03 23:40:25.424] [info] Goal path tolerance override provided: 10, 10, 10, 10, 10, 10, 10 ×2 + 12.29sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 12.30sINFOros2_control_node[2026-11-03 23:40:32.020] [info] Got request to cancel active goal. ×2 + 12.30sINFOros2_control_node[2026-11-03 23:40:32.020] [info] Canceling active goal... ×2 + 12.30sERRORobjective_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: 1793749232.02495599 seconds ×3 + 12.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 12.84sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 12.92sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1793749232.64048672 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 13.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.587424 ms (missed cycles : 3). + 13.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.587424 ms (missed cycles : 3).[0m ×2 + 14.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.397750 ms (missed cycles : 4). + 14.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.397750 ms (missed cycles : 4).[0m ×2 + 14.37sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1793749234.09065962 seconds ×3 + 14.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.91sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 14.98sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1793749234.70164514 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.98sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 14.98sINFOobjective_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 + 14.98sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 14.98sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1793749234.70394087 seconds ×3 + 15.05sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.05 s). The render path has stopped producing new frames for them.[0m ×2 + 15.52sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 15.52sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 15.58sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1793749235.30730247 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.59sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1793749235.31816721 seconds ×3 | ||||
| ✓ passed | Cycle Between Waypoints | cycle_between_waypoints.xml | 10.7s | 3 errors · 9 warnings · 222 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.36sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.37sINFOros2_control_node[2026-11-03 23:35:39.238] [info] Received new action goal ×2 + 0.37sINFOros2_control_node[2026-11-03 23:35:39.238] [info] Accepted new action goal ×2 + 1.67sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1793748940.53447151 seconds ×3 + 1.67sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 1.67sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.67sINFOcontroller_managerSuccessfully switched controllers! ×6 + 1.67sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 1.67sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.67sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 1.68sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 1.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.68sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 1.68sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 1.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 1.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 1.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.785705 ms (missed cycles : 2). + 1.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.785705 ms (missed cycles : 2).[0m ×2 + 2.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.20sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.20sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.20sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.20sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.20sINFOobjective_server_nodecaller: ×6 + 2.20sINFOobjective_server_nodetype: 0 ×6 + 2.20sINFOobjective_server_nodename: "" ×6 + 2.20sINFOobjective_server_nodeinstance_id: "" ×6 + 2.20sINFOobjective_server_node ×6 + 2.29sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1793748941.15409803 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.38sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1793748941.24425745 seconds ×3 + 2.97sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.97sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.03sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1793748941.90074921 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.05sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×15 + 3.14sINFOobjective_server_nodeFound path in 0 iterations (2.45e-07 s). ×2 + 3.14sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.16sINFOros2_control_node[2026-11-03 23:35:42.025] [info] Received new action goal ×2 + 3.16sINFOros2_control_node[2026-11-03 23:35:42.025] [info] Accepted new action goal ×2 + 6.50sINFOobjective_server_nodeFound path in 0 iterations (4.13e-07 s). ×2 + 6.50sINFOobjective_server_nodePath shortcutter: [X________X] ×6 + 6.51sINFOros2_control_node[2026-11-03 23:35:45.375] [info] Received new action goal ×2 + 6.51sINFOros2_control_node[2026-11-03 23:35:45.375] [info] Accepted new action goal ×2 + 8.84sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 8.85sINFOros2_control_node[2026-11-03 23:35:47.713] [info] Received new action goal ×2 + 8.85sINFOros2_control_node[2026-11-03 23:35:47.713] [info] Accepted new action goal ×2 + 11.20sINFOobjective_server_nodeFound path in 0 iterations (5.63e-07 s). ×2 + 11.22sINFOros2_control_node[2026-11-03 23:35:50.082] [info] Received new action goal ×2 + 11.22sINFOros2_control_node[2026-11-03 23:35:50.082] [info] Accepted new action goal ×2 + 13.15sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 13.15sINFOros2_control_node[2026-11-03 23:35:52.021] [info] Got request to cancel active goal. ×2 + 13.15sINFOros2_control_node[2026-11-03 23:35:52.021] [info] Canceling active goal... ×2 + 13.17sERRORobjective_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: 1793748952.03386140 seconds ×3 + 13.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 13.74sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 13.81sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1793748952.68213391 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.00sINFOobjective_server_nodeFound path in 0 iterations (3.68e-07 s). ×2 + 14.00sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 14.02sINFOros2_control_node[2026-11-03 23:35:52.886] [info] Received new action goal ×2 + 14.02sINFOros2_control_node[2026-11-03 23:35:52.886] [info] Accepted new action goal ×2 + 15.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.686723 ms (missed cycles : 2). + 15.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.686723 ms (missed cycles : 2).[0m ×2 + 16.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.070482 ms (missed cycles : 4). + 16.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.070482 ms (missed cycles : 4).[0m ×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 + 0.01sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan and Save Trajectory` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1793749153.52625251 seconds ×3 + 0.04sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 0.04sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 0.04sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 0.04sINFOcontroller_managerSuccessfully switched controllers! ×4 + 0.04sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 0.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 0.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 0.05sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 0.05sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 0.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Playback Square Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.57sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.57sINFOobjective_server_nodeobjective_name: "Playback Square Trajectory" ×2 + 0.57sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.57sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.57sINFOobjective_server_nodecaller: ×4 + 0.57sINFOobjective_server_nodetype: 0 ×4 + 0.57sINFOobjective_server_nodename: "" ×4 + 0.57sINFOobjective_server_nodeinstance_id: "" ×4 + 0.57sINFOobjective_server_node ×4 + 0.63sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1793749154.15135837 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.83sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.92sINFOobjective_server_nodeFound path in 0 iterations (2.78e-07 s). ×2 + 0.93sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 0.94sINFOros2_control_node[2026-11-03 23:39:14.461] [info] Received new action goal ×2 + 0.94sINFOros2_control_node[2026-11-03 23:39:14.461] [info] Accepted new action goal ×2 + 4.96sINFOros2_control_node[2026-11-03 23:39:18.479] [info] Received new action goal ×2 + 4.96sINFOros2_control_node[2026-11-03 23:39:18.479] [info] Accepted new action goal ×2 + 10.54sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1793749164.06456089 seconds ×3 + 11.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Record and Replay Scanning Motion"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 11.09sINFOobjective_server_nodeobjective_name: "Record and Replay Scanning Motion" ×2 + 11.17sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1793749164.69235754 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 11.28sINFOobjective_server_nodeFound path in 0 iterations (3.55e-07 s). ×2 + 11.28sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 11.30sINFOros2_control_node[2026-11-03 23:39:24.816] [info] Received new action goal ×2 + 11.30sINFOros2_control_node[2026-11-03 23:39:24.816] [info] Accepted new action goal ×2 + 13.21sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| ✓ passed | Record Square Trajectory | record_square_trajectory.xml | 10.5s | 3 errors · 3 warnings · 147 info |
+ 0.00sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.00sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1793749175.02272344 seconds ×3 + 0.01sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 0.01sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 0.01sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×4 + 0.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 0.02sINFOros2_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: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 0.02sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 0.03sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 0.03sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_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 + 0.63sINFOobjective_server_nodeObjective `Record Square Trajectory` starting at time: 1793749175.64769363 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.67sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.77sINFOobjective_server_nodeFound path in 0 iterations (3.14e-07 s). ×2 + 0.78sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 0.79sINFOros2_control_node[2026-11-03 23:39:35.813] [info] Received new action goal ×2 + 0.79sINFOros2_control_node[2026-11-03 23:39:35.813] [info] Accepted new action goal ×2 + 5.12sINFOros2_control_node[2026-11-03 23:39:40.144] [info] Received new action goal ×2 + 5.12sINFOros2_control_node[2026-11-03 23:39:40.144] [info] Accepted new action goal ×2 + 7.15sINFOros2_control_node[2026-11-03 23:39:42.165] [info] Received new action goal ×2 + 7.15sINFOros2_control_node[2026-11-03 23:39:42.165] [info] Accepted new action goal ×2 + 7.65sINFOros2_control_node[2026-11-03 23:39:42.666] [info] Received new action goal ×2 + 7.65sINFOros2_control_node[2026-11-03 23:39:42.666] [info] Accepted new action goal ×2 + 9.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.667183 ms (missed cycles : 2). + 9.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.667183 ms (missed cycles : 2).[0m ×2 + 9.72sINFOros2_control_node[2026-11-03 23:39:44.738] [info] Received new action goal ×2 + 9.72sINFOros2_control_node[2026-11-03 23:39:44.738] [info] Accepted new action goal ×2 + 10.53sINFOobjective_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 + 10.53sINFOobjective_server_nodeObjective `Record Square Trajectory` succeeded at time: 1793749185.54705596 seconds ×3 + 11.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Record Surface Coverage Demo"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 11.07sINFOobjective_server_nodeobjective_name: "Record Surface Coverage Demo" ×2 + 11.18sINFOobjective_server_nodeObjective `Record Surface Coverage Demo` starting at time: 1793749186.19676876 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 11.18sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 11.18sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 12.20sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 12.20sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 12.21sINFOros2_control_node[2026-11-03 23:39:47.231] [info] Received new action goal ×2 + 12.21sINFOros2_control_node[2026-11-03 23:39:47.231] [info] Accepted new action goal ×2 | ||||
| ✓ passed | Take Wrist Camera Snapshot | wrist_snap.xml | 9.1s | 59 errors · 22 warnings · 409 info |
+ 0.00sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.00sINFOros2_control_node[2026-11-03 23:40:32.020] [info] Got request to cancel active goal. ×2 + 0.00sINFOros2_control_node[2026-11-03 23:40:32.020] [info] Canceling active goal... ×2 + 0.00sERRORobjective_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: 1793749232.02495599 seconds ×3 + 0.01sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.01sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.01sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.02sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.02sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.02sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.03sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.03sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.55sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 0.55sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 0.55sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 0.55sINFOobjective_server_nodeparameter_overrides: [] ×8 + 0.55sINFOobjective_server_nodecaller: ×8 + 0.55sINFOobjective_server_nodetype: 0 ×8 + 0.55sINFOobjective_server_nodename: "" ×8 + 0.55sINFOobjective_server_nodeinstance_id: "" ×8 + 0.55sINFOobjective_server_node ×8 + 0.62sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1793749232.64048672 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.587424 ms (missed cycles : 3). + 0.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.587424 ms (missed cycles : 3).[0m ×2 + 1.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.397750 ms (missed cycles : 4). + 1.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.397750 ms (missed cycles : 4).[0m ×2 + 2.07sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1793749234.09065962 seconds ×3 + 2.62sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.62sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 2.68sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1793749234.70164514 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.68sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 2.68sINFOobjective_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 + 2.68sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 2.68sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1793749234.70394087 seconds ×3 + 2.76sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.05 s). The render path has stopped producing new frames for them.[0m ×2 + 3.23sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.23sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 3.29sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1793749235.30730247 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.30sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1793749235.31816721 seconds ×3 + 3.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.95sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 4.01sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1793749236.02858615 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.647982 ms (missed cycles : 3). + 4.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.647982 ms (missed cycles : 3).[0m ×2 + 5.12sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1793749237.13873696 seconds ×3 + 5.16sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.233668 ms (missed cycles : 2). + 5.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.233668 ms (missed cycles : 2).[0m ×2 + 7.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679216 ms (missed cycles : 2). + 7.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679216 ms (missed cycles : 2).[0m ×2 + 10.69sERRORweb_video_auth_proxy-25process[web_video_auth_proxy-25] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.69sERRORweb_bridge_auth_proxy-24process[web_bridge_auth_proxy-24] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.69sERRORvideo_server-23process[video_server-23] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.69sERRORtf2_web_republisher_node-22process[tf2_web_republisher_node-22] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.70sERRORjoint_state_visualization_relay-21process[joint_state_visualization_relay-21] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.70sERRORtf_visualization_relay-20process[tf_visualization_relay-20] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.70sERRORweb_bridge-19process[web_bridge-19] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.70sERRORui_teleop_bridge-18process[ui_teleop_bridge-18] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.70sERRORexecute_objective_bridge-17process[execute_objective_bridge-17] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.70sERRORcomponent_container_mt-16process[component_container_mt-16] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.70sERRORcomponent_container_mt-15process[component_container_mt-15] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.71sERRORobjective_server_node_main-14process[objective_server_node_main-14] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.71sERRORmove_end_effector_resampler_node-13process[move_end_effector_resampler_node-13] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.71sERRORmove_joint_resampler_node-12process[move_joint_resampler_node-12] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.71sERRORwaypoint_manager_node-11process[waypoint_manager_node-11] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.71sERRORparameter_manager_node-10process[parameter_manager_node-10] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.71sERRORmove_group-9process[move_group-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.71sERRORros2_control_node-1process[ros2_control_node-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.71sINFOweb_video_auth_proxy-25sending signal 'SIGTERM' to process[web_video_auth_proxy-25] ×2 + 10.72sINFOweb_bridge_auth_proxy-24sending signal 'SIGTERM' to process[web_bridge_auth_proxy-24] ×2 + 10.72sERRORweb_video_auth_proxy-25process has died [pid 8478, 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 + 10.72sINFOvideo_server-23sending signal 'SIGTERM' to process[video_server-23] ×2 + 10.72sERRORweb_bridge_auth_proxy-24process has died [pid 8477, 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 + 10.72sINFOtf2_web_republisher_node-22sending signal 'SIGTERM' to process[tf2_web_republisher_node-22] ×2 + 10.73sINFOjoint_state_visualization_relay-21sending signal 'SIGTERM' to process[joint_state_visualization_relay-21] ×2 + 10.73sINFOtf_visualization_relay-20sending signal 'SIGTERM' to process[tf_visualization_relay-20] ×2 + 10.74sINFOweb_bridge-19sending signal 'SIGTERM' to process[web_bridge-19] ×2 + 10.74sINFOui_teleop_bridge-18sending signal 'SIGTERM' to process[ui_teleop_bridge-18] ×2 + 10.75sINFOvideo_server-23process has finished cleanly [pid 8476] ×2 + 10.75sINFOexecute_objective_bridge-17sending signal 'SIGTERM' to process[execute_objective_bridge-17] ×2 + 10.75sINFOcomponent_container_mt-16sending signal 'SIGTERM' to process[component_container_mt-16] ×2 + 10.76sINFOcomponent_container_mt-15sending signal 'SIGTERM' to process[component_container_mt-15] ×2 + 10.76sINFOobjective_server_node_main-14sending signal 'SIGTERM' to process[objective_server_node_main-14] ×2 + 10.77sINFOmove_end_effector_resampler_node-13sending signal 'SIGTERM' to process[move_end_effector_resampler_node-13] ×2 + 10.77sINFOmove_joint_resampler_node-12sending signal 'SIGTERM' to process[move_joint_resampler_node-12] ×2 + 10.78sINFOwaypoint_manager_node-11sending signal 'SIGTERM' to process[waypoint_manager_node-11] ×2 + 10.78sINFOparameter_manager_node-10sending signal 'SIGTERM' to process[parameter_manager_node-10] ×2 + 10.79sINFOmove_group-9sending signal 'SIGTERM' to process[move_group-9] ×2 + 10.79sINFOros2_control_node-1sending signal 'SIGTERM' to process[ros2_control_node-1] ×2 + 10.79sINFOcontroller_managerShutdown request received.... + 10.79sINFOcontroller_managerShutting down all controllers in the controller manager. + 10.79sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 10.79sINFOcontroller_managerDeactivating controller 'joint_trajectory_admittance_controller' + 10.79sINFOcontroller_managerShutting down controller 'joint_trajectory_admittance_controller' + 10.79sINFOlaunchprocess[web_bridge_auth_proxy-24] was required: shutting down launched system ×2 + 10.79sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 10.79sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 10.79sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 10.79sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 10.79sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 10.79sINFOvideo_server2026/11/03 23:40:42 INF shutting down gracefully ×2 + 10.79sINFOcontroller_managerDeactivating controller 'robotiq_gripper_controller' + 10.79sINFOcontroller_managerShutting down controller 'robotiq_gripper_controller' + 10.79sINFOvideo_server2026/11/03 23:40:42 INF [WebRTC] closing ×2 + 10.79sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 10.79sINFOvideo_server2026/11/03 23:40:42 INF [RTSP] closing ×2 + 10.79sINFOvideo_server2026/11/03 23:40:42 INF waiting for running hooks ×2 + 10.79sINFOcontroller_managerShutting down the controller manager. + 10.79sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.79sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.80sWARNparameter_manager_nodeROS node was shutdown. ×2 + 10.80sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.80sINFOros2_control_nodeShutdown request received....[0m ×2 + 10.80sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m ×2 + 10.80sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m ×2 + 10.80sINFOros2_control_nodeDeactivating controller 'joint_trajectory_admittance_controller'[0m ×2 + 10.80sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×12 + 10.80sINFOros2_control_nodeShutting down controller 'joint_trajectory_admittance_controller'[0m ×2 + 10.80sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m ×2 + 10.80sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m ×2 + 10.80sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m ×2 + 10.80sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m ×2 + 10.80sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m ×2 + 10.80sINFOros2_control_nodeDeactivating controller 'robotiq_gripper_controller'[0m ×2 + 10.80sINFOros2_control_nodeShutting down controller 'robotiq_gripper_controller'[0m ×2 + 10.80sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m ×2 + 10.80sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m ×2 + 10.80sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m ×2 + 10.80sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m ×2 + 10.80sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m ×2 + 10.80sINFOros2_control_nodeShutting down the controller manager.[0m ×2 + 10.95sINFOtf2_web_republisher_node-22process has finished cleanly [pid 8475] ×2 + 10.95sINFOlaunchprocess[tf2_web_republisher_node-22] was required: shutting down launched system ×2 + 10.95sERRORjoint_state_visualization_relayTraceback (most recent call last): ×2 + 10.95sINFOjoint_state_visualization_relayFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/joint_state_visualization_relay", line 33, in <module> ×2 + 10.95sINFOjoint_state_visualization_relaysys.exit(load_entry_point('moveit-studio-bridge==10.3.0', 'console_scripts', 'joint_state_visualization_relay')()) ×2 + 10.95sINFOjoint_state_visualization_relay^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 10.95sINFOjoint_state_visualization_relayFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/python3.12/site-packages/moveit_studio_bridge/joint_state_visualization_relay.py", line 95, in main ×2 + 10.95sINFOjoint_state_visualization_relayrclpy.spin(node) ×2 + 10.95sINFOjoint_state_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 10.95sINFOjoint_state_visualization_relayexecutor.spin_once() ×2 + 10.95sINFOjoint_state_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 10.95sINFOjoint_state_visualization_relayself._spin_once_impl(timeout_sec) ×2 + 10.95sINFOjoint_state_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 10.95sINFOjoint_state_visualization_relayhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 10.95sINFOjoint_state_visualization_relay^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 10.95sINFOjoint_state_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 10.95sINFOjoint_state_visualization_relayreturn next(self._cb_iter) ×2 + 10.95sINFOjoint_state_visualization_relay^^^^^^^^^^^^^^^^^^^ ×2 + 10.95sINFOjoint_state_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks ×2 + 10.95sINFOjoint_state_visualization_relayraise ExternalShutdownException() ×2 + 10.95sINFOjoint_state_visualization_relayrclpy.executors.ExternalShutdownException ×2 + 10.99sINFOmove_end_effector_resampler_node-13process has finished cleanly [pid 8395] ×2 + 11.00sINFOros2_control_nodeAsync messages lost 0[0m ×4 + 11.00sINFOros2_control_nodepublish_async_failures_ 0[0m ×4 + 11.00sINFOmove_joint_resampler_node-12process has finished cleanly [pid 8394] ×2 + 11.01sINFOparameter_manager_node-10process has finished cleanly [pid 8392] ×2 + 11.01sINFOwaypoint_manager_node-11process has finished cleanly [pid 8393] ×2 + 11.02sERRORjoint_state_visualization_relay-21process has died [pid 8474, 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_lcbru9ux']. ×2 + 11.02sINFOlaunchprocess[joint_state_visualization_relay-21] was required: shutting down launched system ×2 + 11.02sINFOui_teleop_bridge-18process has finished cleanly [pid 8400] ×2 + 11.02sINFOtf_visualization_relay-20process has finished cleanly [pid 8473] ×2 + 11.02sINFOlaunchprocess[tf_visualization_relay-20] was required: shutting down launched system ×2 + 11.04sINFOexecute_objective_bridge-17process has finished cleanly [pid 8399] ×2 + 11.08sINFOobjective_server_node[0;m[2026-11-03 23:40:43.096] [moveit_pro_license] [info] ×2 + 11.08sINFOobjective_server_node************************************************* ×4 + 11.08sINFOobjective_server_node* MoveIt Pro License ×2 + 11.08sINFOobjective_server_node* Application has successfully terminated ×2 + 11.10sINFOcomponent_container_mt-16process has finished cleanly [pid 8398] ×2 + 11.12sINFOmove_group-9process has finished cleanly [pid 8391] ×2 + 11.12sINFOcomponent_container_mt-15process has finished cleanly [pid 8397] ×2 + 11.36sINFOobjective_server_node_main-14process has finished cleanly [pid 8396] ×2 + 11.36sINFOlaunchprocess[objective_server_node_main-14] was required: shutting down launched system ×2 + 11.60sINFOros2_control_node-1process has finished cleanly [pid 8342] ×2 + 12.13sINFOweb_bridge-19process has finished cleanly [pid 8401] ×2 + 12.13sINFOlaunchprocess[web_bridge-19] was required: shutting down launched system ×2 | ||||
| ✓ passed | Look at Table | look_at_table.xml | 3.9s | 3 warnings · 205 info |
+ 0.00sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1793749005.95246959 seconds ×3 + 0.01sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.01sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.01sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load 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: 1793749006.54734397 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.64sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 0.64sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 0.65sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 0.65sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 0.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.697662 ms (missed cycles : 3). + 0.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.697662 ms (missed cycles : 3).[0m ×2 + 0.67sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1793749006.61753941 seconds ×3 + 1.40sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.40sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 1.46sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1793749007.40948057 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.47sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.56sINFOobjective_server_nodeFound path in 0 iterations (4.08e-07 s). ×2 + 1.56sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.57sINFOros2_control_node[2026-11-03 23:36:47.523] [info] Received new action goal ×2 + 1.57sINFOros2_control_node[2026-11-03 23:36:47.523] [info] Accepted new action goal ×2 + 3.58sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1793749009.52964664 seconds ×3 + 5.12sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.12sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 5.20sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1793749011.15588689 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.21sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 5.21sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 5.28sINFOobjective_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 + 5.29sINFOobjective_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 + 5.57sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 5.57sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 5.61sINFOros2_control_node[2026-11-03 23:36:51.564] [info] Received new action goal ×2 + 5.61sINFOros2_control_node[2026-11-03 23:36:51.564] [info] Accepted new action goal ×2 | ||||
| ✓ passed | Take Scene Camera Snapshot | take_snap.xml | 2.1s | 3 errors · 15 warnings · 213 info |
+ 0.00sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.00sINFOros2_control_node[2026-11-03 23:40:32.020] [info] Got request to cancel active goal. ×2 + 0.00sINFOros2_control_node[2026-11-03 23:40:32.020] [info] Canceling active goal... ×2 + 0.00sERRORobjective_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: 1793749232.02495599 seconds ×3 + 0.01sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.01sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.01sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.02sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.02sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.02sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.03sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.03sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.55sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 0.55sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 0.55sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 0.55sINFOobjective_server_nodeparameter_overrides: [] ×8 + 0.55sINFOobjective_server_nodecaller: ×8 + 0.55sINFOobjective_server_nodetype: 0 ×8 + 0.55sINFOobjective_server_nodename: "" ×8 + 0.55sINFOobjective_server_nodeinstance_id: "" ×8 + 0.55sINFOobjective_server_node ×8 + 0.62sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1793749232.64048672 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.587424 ms (missed cycles : 3). + 0.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.587424 ms (missed cycles : 3).[0m ×2 + 1.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.397750 ms (missed cycles : 4). + 1.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.397750 ms (missed cycles : 4).[0m ×2 + 2.07sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1793749234.09065962 seconds ×3 + 2.62sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.62sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 2.68sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1793749234.70164514 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.68sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 2.68sINFOobjective_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 + 2.68sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 2.68sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1793749234.70394087 seconds ×3 + 2.76sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.05 s). The render path has stopped producing new frames for them.[0m ×2 + 3.23sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.23sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 3.29sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1793749235.30730247 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.30sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1793749235.31816721 seconds ×3 + 3.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.95sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 4.01sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1793749236.02858615 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.647982 ms (missed cycles : 3). + 4.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.647982 ms (missed cycles : 3).[0m ×2 + 5.12sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1793749237.13873696 seconds ×3 + 5.16sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.233668 ms (missed cycles : 2). | ||||
| ✓ passed | Close Gripper | close_gripper.xml | 1.5s | 5 warnings · 413 info |
+ 0.00sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×2 + 1.98sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 2.02sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 2.02sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 2.02sINFOcontroller_managerSuccessfully switched controllers! ×17 + 2.02sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 2.02sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 2.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 2.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 2.05sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 2.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 2.05sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 2.05sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 2.05sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 2.05sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 2.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.64sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 2.64sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.64sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 2.64sINFOobjective_server_nodeparameter_overrides: [] ×14 + 2.64sINFOobjective_server_nodecaller: ×14 + 2.64sINFOobjective_server_nodetype: 0 ×14 + 2.64sINFOobjective_server_nodename: "" ×14 + 2.64sINFOobjective_server_nodeinstance_id: "" ×14 + 2.64sINFOobjective_server_node ×14 + 2.70sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793748899.06332374 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.71sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793748899.07355833 seconds ×3 + 3.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.25sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 3.30sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793748899.66782188 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.31sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.31sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 4.21sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793748900.57799482 seconds ×3 + 4.63sINFOros2_control_nodeMuJoCo sim: 0.06% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 4.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.78sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 4.83sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793748901.19387889 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.89sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793748901.25405955 seconds ×3 + 5.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.50sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 5.55sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793748901.91679287 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.57sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793748901.93694973 seconds ×3 + 6.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.11sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 6.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793748902.53058195 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.32sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793748902.68142056 seconds ×3 + 6.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.95sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 7.02sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793748903.37923169 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.03sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 7.03sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 7.04sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 7.04sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 7.04sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 7.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750096 ms (missed cycles : 3). + 7.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750096 ms (missed cycles : 3).[0m ×2 + 7.07sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793748903.42940521 seconds ×3 + 7.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 7.68sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 7.79sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1793748904.15224528 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.80sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 7.80sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 7.80sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 7.80sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 7.80sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 7.80sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 7.80sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 7.80sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 7.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 7.91sINFOobjective_server_nodeFound path in 0 iterations (2.1193e-05 s). ×2 + 7.91sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 7.93sINFOros2_control_node[2026-11-03 23:35:04.289] [info] Received new action goal ×2 + 7.93sINFOros2_control_node[2026-11-03 23:35:04.289] [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: 1793749219.72545481 seconds ×3 + 0.10sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.10sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.10sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 0.10sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.10sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 0.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.64sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 0.64sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 0.64sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 0.64sINFOobjective_server_nodeparameter_overrides: [] ×6 + 0.64sINFOobjective_server_nodecaller: ×6 + 0.64sINFOobjective_server_nodetype: 0 ×6 + 0.64sINFOobjective_server_nodename: "" ×6 + 0.64sINFOobjective_server_nodeinstance_id: "" ×6 + 0.64sINFOobjective_server_node ×6 + 0.87sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1793749220.59074426 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.89sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 0.89sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 0.91sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 0.91sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 0.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.886265 ms (missed cycles : 3). + 0.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.886265 ms (missed cycles : 3).[0m ×2 + 0.93sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1793749220.65091968 seconds ×3 + 1.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.47sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 1.53sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1793749221.25074363 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.55sINFOobjective_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 + 1.55sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1793749221.27251124 seconds ×3 + 2.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.19sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 2.25sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1793749221.98015809 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 2.38sINFOobjective_server_nodeFound path in 0 iterations (3.33e-07 s). ×2 + 2.38sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 2.39sINFOros2_control_node[2026-11-03 23:40:22.114] [info] Received new action goal ×2 + 2.39sINFOros2_control_node[2026-11-03 23:40:22.114] [info] Accepted new action goal ×2 | ||||
| ✓ passed | Add Table to Planning Scene | add_table_to_planning_scene.xml | 0.7s | 3 errors · 17 warnings · 114 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.050818 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.050818 ms (missed cycles : 2).[0m ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.679903 ms (missed cycles : 6). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.679903 ms (missed cycles : 6).[0m ×2 + 2.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.718213 ms (missed cycles : 3). + 2.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.718213 ms (missed cycles : 3).[0m ×2 + 2.73sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.74sERRORobjective_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: 1793748925.52995872 seconds ×3 + 2.74sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.74sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.74sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.75sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.75sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.75sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.75sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.75sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.75sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.97sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 3.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.29sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.29sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 3.29sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.29sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.29sINFOobjective_server_nodecaller: ×4 + 3.29sINFOobjective_server_nodetype: 0 ×4 + 3.29sINFOobjective_server_nodename: "" ×4 + 3.29sINFOobjective_server_nodeinstance_id: "" ×4 + 3.29sINFOobjective_server_node ×4 + 3.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.386393 ms (missed cycles : 4). + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.386393 ms (missed cycles : 4).[0m ×2 + 3.36sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1793748926.14867496 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.48sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1793748926.26883030 seconds ×3 + 4.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.12sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 4.18sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1793748926.97044587 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.18sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.27sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.36sINFOobjective_server_nodeFound path in 0 iterations (2.34e-07 s). ×2 + 4.36sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.37sINFOros2_control_node[2026-11-03 23:35:27.165] [info] Received new action goal ×2 + 4.37sINFOros2_control_node[2026-11-03 23:35:27.165] [info] Accepted new action goal ×2 + 6.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681778 ms (missed cycles : 2). + 6.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681778 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Clear Previous Obstacles | clear_previous_obstacles.xml | 0.7s | 3 warnings · 125 info |
+ 0.00sINFOros2_control_node[2026-11-03 23:35:37.566] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-11-03 23:35:37.566] [info] Accepted new action goal ×2 + 1.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.66sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.67sINFOros2_control_node[2026-11-03 23:35:39.238] [info] Received new action goal ×2 + 1.67sINFOros2_control_node[2026-11-03 23:35:39.238] [info] Accepted new action goal ×2 + 2.97sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1793748940.53447151 seconds ×3 + 2.97sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.97sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.97sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.97sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.97sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.97sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.98sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.98sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.98sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.98sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.99sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.99sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.785705 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.785705 ms (missed cycles : 2).[0m ×2 + 3.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.50sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.50sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 3.50sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.50sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.50sINFOobjective_server_nodecaller: ×4 + 3.50sINFOobjective_server_nodetype: 0 ×4 + 3.50sINFOobjective_server_nodename: "" ×4 + 3.50sINFOobjective_server_nodeinstance_id: "" ×4 + 3.50sINFOobjective_server_node ×4 + 3.59sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1793748941.15409803 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.68sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1793748941.24425745 seconds ×3 + 4.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.27sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 4.33sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1793748941.90074921 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.35sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.44sINFOobjective_server_nodeFound path in 0 iterations (2.45e-07 s). ×2 + 4.44sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 4.46sINFOros2_control_node[2026-11-03 23:35:42.025] [info] Received new action goal ×2 + 4.46sINFOros2_control_node[2026-11-03 23:35:42.025] [info] Accepted new action goal ×2 | ||||
| ✓ passed | Load MuJoCo Robot State | load_mujoco_robot_state.xml | 0.7s | 3 warnings · 138 info |
+ 0.00sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1793749005.95246959 seconds ×3 + 0.01sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 0.01sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 0.01sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×6 + 0.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 0.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 0.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 0.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 0.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 0.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load MuJoCo Robot State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.54sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.54sINFOobjective_server_nodeobjective_name: "Load MuJoCo Robot State" ×2 + 0.54sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.54sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.54sINFOobjective_server_nodecaller: ×4 + 0.54sINFOobjective_server_nodetype: 0 ×4 + 0.54sINFOobjective_server_nodename: "" ×4 + 0.54sINFOobjective_server_nodeinstance_id: "" ×4 + 0.54sINFOobjective_server_node ×4 + 0.59sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1793749006.54734397 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.64sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 0.64sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 0.65sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 0.65sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 0.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.697662 ms (missed cycles : 3). + 0.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.697662 ms (missed cycles : 3).[0m ×2 + 0.67sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1793749006.61753941 seconds ×3 + 1.40sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.40sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 1.46sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1793749007.40948057 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.47sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 1.56sINFOobjective_server_nodeFound path in 0 iterations (4.08e-07 s). ×2 + 1.56sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.57sINFOros2_control_node[2026-11-03 23:36:47.523] [info] Received new action goal ×2 + 1.57sINFOros2_control_node[2026-11-03 23:36:47.523] [info] Accepted new action goal ×2 + 3.58sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1793749009.52964664 seconds ×3 | ||||
| ✓ passed | Open Gripper | open_gripper.xml | 0.6s | 3 warnings · 413 info |
+ 0.00sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.04sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 0.04sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.04sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.04sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.04sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 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: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 0.07sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 0.08sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 0.08sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 0.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.66sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.66sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.66sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.66sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.66sINFOobjective_server_nodecaller: ×14 + 0.66sINFOobjective_server_nodetype: 0 ×14 + 0.66sINFOobjective_server_nodename: "" ×14 + 0.66sINFOobjective_server_nodeinstance_id: "" ×14 + 0.66sINFOobjective_server_node ×14 + 0.72sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793748899.06332374 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.73sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793748899.07355833 seconds ×3 + 1.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.27sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.33sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793748899.66782188 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.33sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.33sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.24sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793748900.57799482 seconds ×3 + 2.65sINFOros2_control_nodeMuJoCo sim: 0.06% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.80sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.85sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793748901.19387889 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.91sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793748901.25405955 seconds ×3 + 3.52sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.52sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.58sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793748901.91679287 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.60sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793748901.93694973 seconds ×3 + 4.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.13sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793748902.53058195 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793748902.68142056 seconds ×3 + 4.97sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.97sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.04sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793748903.37923169 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.05sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 5.05sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 5.06sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.06sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.06sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750096 ms (missed cycles : 3). + 5.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750096 ms (missed cycles : 3).[0m ×2 + 5.09sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793748903.42940521 seconds ×3 + 5.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.70sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 5.81sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1793748904.15224528 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.82sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 5.82sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.82sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.83sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.83sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.83sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.83sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.83sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.83sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.93sINFOobjective_server_nodeFound path in 0 iterations (2.1193e-05 s). ×2 + 5.93sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 5.95sINFOros2_control_node[2026-11-03 23:35:04.289] [info] Received new action goal ×2 + 5.95sINFOros2_control_node[2026-11-03 23:35:04.289] [info] Accepted new action goal ×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: 1793749219.72545481 seconds ×3 + 0.10sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.10sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.10sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 0.10sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.10sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 0.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.64sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 0.64sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 0.64sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 0.64sINFOobjective_server_nodeparameter_overrides: [] ×6 + 0.64sINFOobjective_server_nodecaller: ×6 + 0.64sINFOobjective_server_nodetype: 0 ×6 + 0.64sINFOobjective_server_nodename: "" ×6 + 0.64sINFOobjective_server_nodeinstance_id: "" ×6 + 0.64sINFOobjective_server_node ×6 + 0.87sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1793749220.59074426 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.89sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 0.89sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 0.91sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 0.91sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 0.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.886265 ms (missed cycles : 3). + 0.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.886265 ms (missed cycles : 3).[0m ×2 + 0.93sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1793749220.65091968 seconds ×3 + 1.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.47sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 1.53sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1793749221.25074363 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.55sINFOobjective_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 + 1.55sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1793749221.27251124 seconds ×3 + 2.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.19sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 2.25sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1793749221.98015809 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 2.38sINFOobjective_server_nodeFound path in 0 iterations (3.33e-07 s). ×2 + 2.38sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 2.39sINFOros2_control_node[2026-11-03 23:40:22.114] [info] Received new action goal ×2 + 2.39sINFOros2_control_node[2026-11-03 23:40:22.114] [info] Accepted new action goal ×2 | ||||
| ✓ passed | Visualize Grasp Link | visualize_grasp_link.xml | 0.6s | 3 errors · 17 warnings · 213 info |
+ 0.00sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.00sINFOros2_control_node[2026-11-03 23:40:32.020] [info] Got request to cancel active goal. ×2 + 0.00sINFOros2_control_node[2026-11-03 23:40:32.020] [info] Canceling active goal... ×2 + 0.00sERRORobjective_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: 1793749232.02495599 seconds ×3 + 0.01sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.01sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.01sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.02sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.02sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.02sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.03sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.03sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.55sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 0.55sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 0.55sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 0.55sINFOobjective_server_nodeparameter_overrides: [] ×8 + 0.55sINFOobjective_server_nodecaller: ×8 + 0.55sINFOobjective_server_nodetype: 0 ×8 + 0.55sINFOobjective_server_nodename: "" ×8 + 0.55sINFOobjective_server_nodeinstance_id: "" ×8 + 0.55sINFOobjective_server_node ×8 + 0.62sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1793749232.64048672 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.587424 ms (missed cycles : 3). + 0.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.587424 ms (missed cycles : 3).[0m ×2 + 1.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.397750 ms (missed cycles : 4). + 1.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.397750 ms (missed cycles : 4).[0m ×2 + 2.07sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1793749234.09065962 seconds ×3 + 2.62sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.62sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 2.68sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1793749234.70164514 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.68sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 2.68sINFOobjective_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 + 2.68sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 2.68sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1793749234.70394087 seconds ×3 + 2.76sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.05 s). The render path has stopped producing new frames for them.[0m ×2 + 3.23sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.23sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 3.29sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1793749235.30730247 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.30sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1793749235.31816721 seconds ×3 + 3.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.95sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 4.01sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1793749236.02858615 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.647982 ms (missed cycles : 3). + 4.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.647982 ms (missed cycles : 3).[0m ×2 + 5.12sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1793749237.13873696 seconds ×3 + 5.16sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.233668 ms (missed cycles : 2). + 5.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.233668 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Vector and String Example | vector_and_string_example.xml | 0.6s | 3 errors · 17 warnings · 213 info |
+ 0.00sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.00sINFOros2_control_node[2026-11-03 23:40:32.020] [info] Got request to cancel active goal. ×2 + 0.00sINFOros2_control_node[2026-11-03 23:40:32.020] [info] Canceling active goal... ×2 + 0.00sERRORobjective_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: 1793749232.02495599 seconds ×3 + 0.01sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.01sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.01sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.02sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.02sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.02sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.03sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.03sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.55sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 0.55sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 0.55sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 0.55sINFOobjective_server_nodeparameter_overrides: [] ×8 + 0.55sINFOobjective_server_nodecaller: ×8 + 0.55sINFOobjective_server_nodetype: 0 ×8 + 0.55sINFOobjective_server_nodename: "" ×8 + 0.55sINFOobjective_server_nodeinstance_id: "" ×8 + 0.55sINFOobjective_server_node ×8 + 0.62sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1793749232.64048672 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.587424 ms (missed cycles : 3). + 0.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.587424 ms (missed cycles : 3).[0m ×2 + 1.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.397750 ms (missed cycles : 4). + 1.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.397750 ms (missed cycles : 4).[0m ×2 + 2.07sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1793749234.09065962 seconds ×3 + 2.62sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.62sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 2.68sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1793749234.70164514 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.68sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 2.68sINFOobjective_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 + 2.68sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 2.68sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1793749234.70394087 seconds ×3 + 2.76sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.05 s). The render path has stopped producing new frames for them.[0m ×2 + 3.23sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.23sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 3.29sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1793749235.30730247 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.30sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1793749235.31816721 seconds ×3 + 3.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.95sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 4.01sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1793749236.02858615 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.647982 ms (missed cycles : 3). + 4.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.647982 ms (missed cycles : 3).[0m ×2 + 5.12sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1793749237.13873696 seconds ×3 + 5.16sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.233668 ms (missed cycles : 2). + 5.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.233668 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Pick object | pick_object.xml | 0.0s | 80 info |
+ 0.00sINFOros2_control_node[2026-11-03 23:38:59.557] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-11-03 23:38:59.557] [info] Accepted new action goal ×2 + 1.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.44sINFOros2_control_nodeMuJoCo sim: 0.04% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.65sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.66sINFOros2_control_node[2026-11-03 23:39:01.221] [info] Received new action goal ×2 + 1.67sINFOros2_control_node[2026-11-03 23:39:01.221] [info] Accepted new action goal ×2 + 2.96sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1793749142.51703954 seconds ×3 + 3.00sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.00sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.00sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.00sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.00sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.01sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.01sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.53sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.53sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.53sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.53sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.53sINFOobjective_server_nodecaller: ×2 + 3.53sINFOobjective_server_nodetype: 0 ×2 + 3.53sINFOobjective_server_nodename: "" ×2 + 3.53sINFOobjective_server_nodeinstance_id: "" ×2 + 3.53sINFOobjective_server_node ×2 + 3.64sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1793749143.19579220 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.71sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.81sINFOobjective_server_nodeFound path in 0 iterations (2.32e-07 s). ×2 + 3.81sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.82sINFOros2_control_node[2026-11-03 23:39:03.380] [info] Received new action goal ×2 + 3.82sINFOros2_control_node[2026-11-03 23:39:03.380] [info] Accepted new action goal ×2 + 5.73sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − skipped | Pick 1 Pill Bottle with SAM3 | pick_1_pill_bottle_with_sam3.xml | 0.0s | 12 warnings · 2504 info |
+ 0.00sINFOros2_control_nodeReceived new action goal[0m ×806 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×806 + 0.01sINFOjoint_trajectory_controllerReceived new action goal ×402 + 0.01sINFOjoint_trajectory_controllerAccepted new action goal ×402 + 0.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.038795 ms (missed cycles : 2). + 0.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.038795 ms (missed cycles : 2).[0m ×2 + 1.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.893087 ms (missed cycles : 2). + 1.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.893087 ms (missed cycles : 2).[0m ×2 + 2.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.038342 ms (missed cycles : 2). + 2.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.038342 ms (missed cycles : 2).[0m ×2 + 3.37sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1793749131.56190848 seconds ×3 + 3.37sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.37sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.37sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.37sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.47sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.47sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.47sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.47sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.47sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.47sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.48sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.48sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.48sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.48sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.48sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.48sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object With Approval"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.01sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 4.01sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 4.01sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 4.01sINFOobjective_server_nodeparameter_overrides: [] ×2 + 4.01sINFOobjective_server_nodecaller: ×2 + 4.01sINFOobjective_server_nodetype: 0 ×2 + 4.01sINFOobjective_server_nodename: "" ×2 + 4.01sINFOobjective_server_nodeinstance_id: "" ×2 + 4.01sINFOobjective_server_node ×2 + 4.11sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1793749132.30682731 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.12sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.12sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.20sINFOobjective_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 + 4.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.20sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.21sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.21sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.21sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.30sINFOobjective_server_nodeFound path in 0 iterations (3.38e-07 s). ×2 + 4.30sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.31sINFOros2_control_node[2026-11-03 23:38:52.501] [info] Received new action goal ×2 + 4.31sINFOros2_control_node[2026-11-03 23:38:52.501] [info] Accepted new action goal ×2 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.361063 ms (missed cycles : 2). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.361063 ms (missed cycles : 2).[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 2.050818 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.050818 ms (missed cycles : 2).[0m ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.679903 ms (missed cycles : 6). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.679903 ms (missed cycles : 6).[0m ×2 + 2.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.718213 ms (missed cycles : 3). + 2.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.718213 ms (missed cycles : 3).[0m ×2 + 2.73sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.74sERRORobjective_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: 1793748925.52995872 seconds ×3 + 2.74sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.74sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.74sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.75sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.75sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.75sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.75sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.75sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.75sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.97sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 3.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.29sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.29sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 3.29sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.29sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.29sINFOobjective_server_nodecaller: ×4 + 3.29sINFOobjective_server_nodetype: 0 ×4 + 3.29sINFOobjective_server_nodename: "" ×4 + 3.29sINFOobjective_server_nodeinstance_id: "" ×4 + 3.29sINFOobjective_server_node ×4 + 3.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.386393 ms (missed cycles : 4). + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.386393 ms (missed cycles : 4).[0m ×2 + 3.36sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1793748926.14867496 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.48sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1793748926.26883030 seconds ×3 + 4.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.12sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 4.18sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1793748926.97044587 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.18sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.27sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.36sINFOobjective_server_nodeFound path in 0 iterations (2.34e-07 s). ×2 + 4.36sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.37sINFOros2_control_node[2026-11-03 23:35:27.165] [info] Received new action goal ×2 + 4.37sINFOros2_control_node[2026-11-03 23:35:27.165] [info] Accepted new action goal ×2 + 6.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681778 ms (missed cycles : 2). + 6.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681778 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 2.050818 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.050818 ms (missed cycles : 2).[0m ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.679903 ms (missed cycles : 6). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.679903 ms (missed cycles : 6).[0m ×2 + 2.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.718213 ms (missed cycles : 3). + 2.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.718213 ms (missed cycles : 3).[0m ×2 + 2.73sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.74sERRORobjective_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: 1793748925.52995872 seconds ×3 + 2.74sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.74sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.74sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.75sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.75sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.75sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.75sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.75sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.75sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.97sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 3.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.29sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.29sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 3.29sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.29sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.29sINFOobjective_server_nodecaller: ×4 + 3.29sINFOobjective_server_nodetype: 0 ×4 + 3.29sINFOobjective_server_nodename: "" ×4 + 3.29sINFOobjective_server_nodeinstance_id: "" ×4 + 3.29sINFOobjective_server_node ×4 + 3.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.386393 ms (missed cycles : 4). + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.386393 ms (missed cycles : 4).[0m ×2 + 3.36sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1793748926.14867496 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.48sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1793748926.26883030 seconds ×3 + 4.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.12sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 4.18sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1793748926.97044587 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.18sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.27sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.36sINFOobjective_server_nodeFound path in 0 iterations (2.34e-07 s). ×2 + 4.36sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.37sINFOros2_control_node[2026-11-03 23:35:27.165] [info] Received new action goal ×2 + 4.37sINFOros2_control_node[2026-11-03 23:35:27.165] [info] Accepted new action goal ×2 + 6.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681778 ms (missed cycles : 2). + 6.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681778 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Add Waypoints to MTC Task | add_waypoints_to_mtc_task.xml | 0.0s | 3 errors · 14 warnings · 114 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.679903 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.679903 ms (missed cycles : 6).[0m ×2 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.718213 ms (missed cycles : 3). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.718213 ms (missed cycles : 3).[0m ×2 + 1.59sINFOobjective_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 + 1.60sERRORobjective_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: 1793748925.52995872 seconds ×3 + 1.60sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.60sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.60sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.61sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.61sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.61sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.61sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.61sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.61sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.61sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.62sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.62sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.83sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 2.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.15sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.15sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.15sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.15sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.15sINFOobjective_server_nodecaller: ×4 + 2.15sINFOobjective_server_nodetype: 0 ×4 + 2.15sINFOobjective_server_nodename: "" ×4 + 2.15sINFOobjective_server_nodeinstance_id: "" ×4 + 2.15sINFOobjective_server_node ×4 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.386393 ms (missed cycles : 4). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.386393 ms (missed cycles : 4).[0m ×2 + 2.22sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1793748926.14867496 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.34sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1793748926.26883030 seconds ×3 + 2.97sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.98sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.04sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1793748926.97044587 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.04sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.04sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.13sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.22sINFOobjective_server_nodeFound path in 0 iterations (2.34e-07 s). ×2 + 3.22sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.23sINFOros2_control_node[2026-11-03 23:35:27.165] [info] Received new action goal ×2 + 3.23sINFOros2_control_node[2026-11-03 23:35:27.165] [info] Accepted new action goal ×2 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681778 ms (missed cycles : 2). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681778 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | AddBottlesToPlanningScene | addbottlestoplanningscene.xml | 0.0s | 3 errors · 14 warnings · 114 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.679903 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.679903 ms (missed cycles : 6).[0m ×2 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.718213 ms (missed cycles : 3). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.718213 ms (missed cycles : 3).[0m ×2 + 1.59sINFOobjective_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 + 1.60sERRORobjective_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: 1793748925.52995872 seconds ×3 + 1.60sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.60sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.60sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.61sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.61sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.61sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.61sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.61sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.61sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.61sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.62sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.62sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.83sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 2.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.15sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.15sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.15sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.15sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.15sINFOobjective_server_nodecaller: ×4 + 2.15sINFOobjective_server_nodetype: 0 ×4 + 2.15sINFOobjective_server_nodename: "" ×4 + 2.15sINFOobjective_server_nodeinstance_id: "" ×4 + 2.15sINFOobjective_server_node ×4 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.386393 ms (missed cycles : 4). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.386393 ms (missed cycles : 4).[0m ×2 + 2.22sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1793748926.14867496 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.34sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1793748926.26883030 seconds ×3 + 2.97sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.98sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.04sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1793748926.97044587 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.04sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.04sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.13sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.22sINFOobjective_server_nodeFound path in 0 iterations (2.34e-07 s). ×2 + 3.22sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.23sINFOros2_control_node[2026-11-03 23:35:27.165] [info] Received new action goal ×2 + 3.23sINFOros2_control_node[2026-11-03 23:35:27.165] [info] Accepted new action goal ×2 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681778 ms (missed cycles : 2). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681778 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | AddCollisionBoxInFrontOfEndEffector | addcollisionboxinfrontofendeffector.xml | 0.0s | 3 errors · 14 warnings · 114 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.679903 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.679903 ms (missed cycles : 6).[0m ×2 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.718213 ms (missed cycles : 3). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.718213 ms (missed cycles : 3).[0m ×2 + 1.59sINFOobjective_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 + 1.60sERRORobjective_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: 1793748925.52995872 seconds ×3 + 1.60sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.60sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.60sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.61sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.61sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.61sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.61sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.61sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.61sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.61sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.62sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.62sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.83sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 2.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.15sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.15sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.15sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.15sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.15sINFOobjective_server_nodecaller: ×4 + 2.15sINFOobjective_server_nodetype: 0 ×4 + 2.15sINFOobjective_server_nodename: "" ×4 + 2.15sINFOobjective_server_nodeinstance_id: "" ×4 + 2.15sINFOobjective_server_node ×4 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.386393 ms (missed cycles : 4). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.386393 ms (missed cycles : 4).[0m ×2 + 2.22sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1793748926.14867496 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.34sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1793748926.26883030 seconds ×3 + 2.97sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.98sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.04sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1793748926.97044587 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.04sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.04sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.13sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.22sINFOobjective_server_nodeFound path in 0 iterations (2.34e-07 s). ×2 + 3.22sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.23sINFOros2_control_node[2026-11-03 23:35:27.165] [info] Received new action goal ×2 + 3.23sINFOros2_control_node[2026-11-03 23:35:27.165] [info] Accepted new action goal ×2 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681778 ms (missed cycles : 2). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681778 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | AddCollisionObjectToPlanningScene | addcollisionobjecttoplanningscene.xml | 0.0s | 3 errors · 14 warnings · 114 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.679903 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.679903 ms (missed cycles : 6).[0m ×2 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.718213 ms (missed cycles : 3). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.718213 ms (missed cycles : 3).[0m ×2 + 1.59sINFOobjective_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 + 1.60sERRORobjective_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: 1793748925.52995872 seconds ×3 + 1.60sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.60sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.60sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.61sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.61sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.61sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.61sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.61sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.61sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.61sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.62sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.62sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.83sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 2.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.15sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.15sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.15sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.15sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.15sINFOobjective_server_nodecaller: ×4 + 2.15sINFOobjective_server_nodetype: 0 ×4 + 2.15sINFOobjective_server_nodename: "" ×4 + 2.15sINFOobjective_server_nodeinstance_id: "" ×4 + 2.15sINFOobjective_server_node ×4 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.386393 ms (missed cycles : 4). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.386393 ms (missed cycles : 4).[0m ×2 + 2.22sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1793748926.14867496 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.34sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1793748926.26883030 seconds ×3 + 2.97sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.98sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.04sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1793748926.97044587 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.04sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.04sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.13sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.22sINFOobjective_server_nodeFound path in 0 iterations (2.34e-07 s). ×2 + 3.22sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.23sINFOros2_control_node[2026-11-03 23:35:27.165] [info] Received new action goal ×2 + 3.23sINFOros2_control_node[2026-11-03 23:35:27.165] [info] Accepted new action goal ×2 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681778 ms (missed cycles : 2). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681778 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Collect Training Data with Behaviors | collect_training_data_with_behaviors.xml | 0.0s | 3 warnings · 121 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.36sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.37sINFOros2_control_node[2026-11-03 23:35:39.238] [info] Received new action goal ×2 + 0.37sINFOros2_control_node[2026-11-03 23:35:39.238] [info] Accepted new action goal ×2 + 1.67sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1793748940.53447151 seconds ×3 + 1.67sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.67sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.67sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.67sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.67sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.67sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.68sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.68sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.68sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.785705 ms (missed cycles : 2). + 1.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.785705 ms (missed cycles : 2).[0m ×2 + 2.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.20sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.20sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.20sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.20sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.20sINFOobjective_server_nodecaller: ×4 + 2.20sINFOobjective_server_nodetype: 0 ×4 + 2.20sINFOobjective_server_nodename: "" ×4 + 2.20sINFOobjective_server_nodeinstance_id: "" ×4 + 2.20sINFOobjective_server_node ×4 + 2.29sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1793748941.15409803 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.38sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1793748941.24425745 seconds ×3 + 2.97sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.97sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.03sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1793748941.90074921 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.05sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.14sINFOobjective_server_nodeFound path in 0 iterations (2.45e-07 s). ×2 + 3.14sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.16sINFOros2_control_node[2026-11-03 23:35:42.025] [info] Received new action goal ×2 + 3.16sINFOros2_control_node[2026-11-03 23:35:42.025] [info] Accepted new action goal ×2 | ||||
| − skipped | ComputeLinkPoseFromWaypoint | computelinkposefromwaypoint.xml | 0.0s | 3 warnings · 121 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.36sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.37sINFOros2_control_node[2026-11-03 23:35:39.238] [info] Received new action goal ×2 + 0.37sINFOros2_control_node[2026-11-03 23:35:39.238] [info] Accepted new action goal ×2 + 1.67sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1793748940.53447151 seconds ×3 + 1.67sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.67sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.67sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.67sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.67sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.67sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.68sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.68sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.68sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.785705 ms (missed cycles : 2). + 1.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.785705 ms (missed cycles : 2).[0m ×2 + 2.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.20sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.20sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.20sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.20sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.20sINFOobjective_server_nodecaller: ×4 + 2.20sINFOobjective_server_nodetype: 0 ×4 + 2.20sINFOobjective_server_nodename: "" ×4 + 2.20sINFOobjective_server_nodeinstance_id: "" ×4 + 2.20sINFOobjective_server_node ×4 + 2.29sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1793748941.15409803 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.38sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1793748941.24425745 seconds ×3 + 2.97sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.97sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.03sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1793748941.90074921 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.05sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.14sINFOobjective_server_nodeFound path in 0 iterations (2.45e-07 s). ×2 + 3.14sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.16sINFOros2_control_node[2026-11-03 23:35:42.025] [info] Received new action goal ×2 + 3.16sINFOros2_control_node[2026-11-03 23:35:42.025] [info] Accepted new action goal ×2 | ||||
| − skipped | Constrained Pick and Place Subtree | constrained_pick_and_place_subtree.xml | 0.0s | 3 warnings · 121 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.36sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.37sINFOros2_control_node[2026-11-03 23:35:39.238] [info] Received new action goal ×2 + 0.37sINFOros2_control_node[2026-11-03 23:35:39.238] [info] Accepted new action goal ×2 + 1.67sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1793748940.53447151 seconds ×3 + 1.67sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.67sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.67sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.67sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.67sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.67sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.68sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.68sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.68sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.785705 ms (missed cycles : 2). + 1.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.785705 ms (missed cycles : 2).[0m ×2 + 2.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.20sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.20sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.20sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.20sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.20sINFOobjective_server_nodecaller: ×4 + 2.20sINFOobjective_server_nodetype: 0 ×4 + 2.20sINFOobjective_server_nodename: "" ×4 + 2.20sINFOobjective_server_nodeinstance_id: "" ×4 + 2.20sINFOobjective_server_node ×4 + 2.29sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1793748941.15409803 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.38sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1793748941.24425745 seconds ×3 + 2.97sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.97sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.03sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1793748941.90074921 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.05sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.14sINFOobjective_server_nodeFound path in 0 iterations (2.45e-07 s). ×2 + 3.14sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.16sINFOros2_control_node[2026-11-03 23:35:42.025] [info] Received new action goal ×2 + 3.16sINFOros2_control_node[2026-11-03 23:35:42.025] [info] Accepted new action goal ×2 | ||||
| − skipped | Create PCL Poses Vector | create_pcl_poses_vector.xml | 0.0s | 3 warnings · 121 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.36sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.37sINFOros2_control_node[2026-11-03 23:35:39.238] [info] Received new action goal ×2 + 0.37sINFOros2_control_node[2026-11-03 23:35:39.238] [info] Accepted new action goal ×2 + 1.67sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1793748940.53447151 seconds ×3 + 1.67sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.67sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.67sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.67sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.67sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.67sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.68sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.68sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.68sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.785705 ms (missed cycles : 2). + 1.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.785705 ms (missed cycles : 2).[0m ×2 + 2.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.20sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.20sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.20sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.20sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.20sINFOobjective_server_nodecaller: ×4 + 2.20sINFOobjective_server_nodetype: 0 ×4 + 2.20sINFOobjective_server_nodename: "" ×4 + 2.20sINFOobjective_server_nodeinstance_id: "" ×4 + 2.20sINFOobjective_server_node ×4 + 2.29sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1793748941.15409803 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.38sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1793748941.24425745 seconds ×3 + 2.97sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.97sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.03sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1793748941.90074921 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.05sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.14sINFOobjective_server_nodeFound path in 0 iterations (2.45e-07 s). ×2 + 3.14sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.16sINFOros2_control_node[2026-11-03 23:35:42.025] [info] Received new action goal ×2 + 3.16sINFOros2_control_node[2026-11-03 23:35:42.025] [info] Accepted new action goal ×2 | ||||
| − skipped | Create Pose Vector | create_pose_vector.xml | 0.0s | 3 warnings · 121 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.36sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.37sINFOros2_control_node[2026-11-03 23:35:39.238] [info] Received new action goal ×2 + 0.37sINFOros2_control_node[2026-11-03 23:35:39.238] [info] Accepted new action goal ×2 + 1.67sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1793748940.53447151 seconds ×3 + 1.67sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.67sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.67sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.67sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.67sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.67sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.68sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.68sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.68sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.785705 ms (missed cycles : 2). + 1.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.785705 ms (missed cycles : 2).[0m ×2 + 2.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.20sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.20sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.20sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.20sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.20sINFOobjective_server_nodecaller: ×4 + 2.20sINFOobjective_server_nodetype: 0 ×4 + 2.20sINFOobjective_server_nodename: "" ×4 + 2.20sINFOobjective_server_nodeinstance_id: "" ×4 + 2.20sINFOobjective_server_node ×4 + 2.29sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1793748941.15409803 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.38sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1793748941.24425745 seconds ×3 + 2.97sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.97sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.03sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1793748941.90074921 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.05sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.14sINFOobjective_server_nodeFound path in 0 iterations (2.45e-07 s). ×2 + 3.14sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.16sINFOros2_control_node[2026-11-03 23:35:42.025] [info] Received new action goal ×2 + 3.16sINFOros2_control_node[2026-11-03 23:35:42.025] [info] Accepted new action goal ×2 | ||||
| − skipped | Detect AprilTags on Table | detect_apriltags_on_table.xml | 0.0s | 3 errors · 6 warnings · 79 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.11sINFOobjective_server_nodeFound path in 0 iterations (5.63e-07 s). ×2 + 0.11sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.12sINFOros2_control_node[2026-11-03 23:35:50.082] [info] Received new action goal ×2 + 0.12sINFOros2_control_node[2026-11-03 23:35:50.082] [info] Accepted new action goal ×2 + 2.06sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.06sINFOros2_control_node[2026-11-03 23:35:52.021] [info] Got request to cancel active goal. ×2 + 2.06sINFOros2_control_node[2026-11-03 23:35:52.021] [info] Canceling active goal... ×2 + 2.07sERRORobjective_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: 1793748952.03386140 seconds ×3 + 2.11sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.11sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.11sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.11sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.11sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.11sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.12sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.12sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.64sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.64sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.64sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.64sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.64sINFOobjective_server_nodecaller: ×2 + 2.64sINFOobjective_server_nodetype: 0 ×2 + 2.64sINFOobjective_server_nodename: "" ×2 + 2.64sINFOobjective_server_nodeinstance_id: "" ×2 + 2.64sINFOobjective_server_node ×2 + 2.72sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1793748952.68213391 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.72sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.72sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.91sINFOobjective_server_nodeFound path in 0 iterations (3.68e-07 s). ×2 + 2.91sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 2.92sINFOros2_control_node[2026-11-03 23:35:52.886] [info] Received new action goal ×2 + 2.92sINFOros2_control_node[2026-11-03 23:35:52.886] [info] Accepted new action goal ×2 + 4.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.686723 ms (missed cycles : 2). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.686723 ms (missed cycles : 2).[0m ×2 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.070482 ms (missed cycles : 4). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.070482 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | ErrorCheckVectorSize | errorcheckvectorsize.xml | 0.0s | 3 errors · 6 warnings · 79 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.11sINFOobjective_server_nodeFound path in 0 iterations (5.63e-07 s). ×2 + 0.11sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.12sINFOros2_control_node[2026-11-03 23:35:50.082] [info] Received new action goal ×2 + 0.12sINFOros2_control_node[2026-11-03 23:35:50.082] [info] Accepted new action goal ×2 + 2.06sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.06sINFOros2_control_node[2026-11-03 23:35:52.021] [info] Got request to cancel active goal. ×2 + 2.06sINFOros2_control_node[2026-11-03 23:35:52.021] [info] Canceling active goal... ×2 + 2.07sERRORobjective_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: 1793748952.03386140 seconds ×3 + 2.11sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.11sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.11sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.11sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.11sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.11sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.12sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.12sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.64sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.64sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.64sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.64sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.64sINFOobjective_server_nodecaller: ×2 + 2.64sINFOobjective_server_nodetype: 0 ×2 + 2.64sINFOobjective_server_nodename: "" ×2 + 2.64sINFOobjective_server_nodeinstance_id: "" ×2 + 2.64sINFOobjective_server_node ×2 + 2.72sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1793748952.68213391 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.72sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.72sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.91sINFOobjective_server_nodeFound path in 0 iterations (3.68e-07 s). ×2 + 2.91sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 2.92sINFOros2_control_node[2026-11-03 23:35:52.886] [info] Received new action goal ×2 + 2.92sINFOros2_control_node[2026-11-03 23:35:52.886] [info] Accepted new action goal ×2 + 4.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.686723 ms (missed cycles : 2). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.686723 ms (missed cycles : 2).[0m ×2 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.070482 ms (missed cycles : 4). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.070482 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Fan Pose About Tool-Z Subtree | fan_pose_about_tool_z_subtree.xml | 0.0s | 3 errors · 6 warnings · 79 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.11sINFOobjective_server_nodeFound path in 0 iterations (5.63e-07 s). ×2 + 0.11sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.12sINFOros2_control_node[2026-11-03 23:35:50.082] [info] Received new action goal ×2 + 0.12sINFOros2_control_node[2026-11-03 23:35:50.082] [info] Accepted new action goal ×2 + 2.06sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.06sINFOros2_control_node[2026-11-03 23:35:52.021] [info] Got request to cancel active goal. ×2 + 2.06sINFOros2_control_node[2026-11-03 23:35:52.021] [info] Canceling active goal... ×2 + 2.07sERRORobjective_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: 1793748952.03386140 seconds ×3 + 2.11sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.11sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.11sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.11sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.11sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.11sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.12sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.12sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.64sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.64sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.64sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.64sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.64sINFOobjective_server_nodecaller: ×2 + 2.64sINFOobjective_server_nodetype: 0 ×2 + 2.64sINFOobjective_server_nodename: "" ×2 + 2.64sINFOobjective_server_nodeinstance_id: "" ×2 + 2.64sINFOobjective_server_node ×2 + 2.72sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1793748952.68213391 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.72sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.72sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.91sINFOobjective_server_nodeFound path in 0 iterations (3.68e-07 s). ×2 + 2.91sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 2.92sINFOros2_control_node[2026-11-03 23:35:52.886] [info] Received new action goal ×2 + 2.92sINFOros2_control_node[2026-11-03 23:35:52.886] [info] Accepted new action goal ×2 + 4.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.686723 ms (missed cycles : 2). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.686723 ms (missed cycles : 2).[0m ×2 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.070482 ms (missed cycles : 4). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.070482 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Fit Bottle Model Subtree | fit_bottle_model_subtree.xml | 0.0s | 3 errors · 6 warnings · 79 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.11sINFOobjective_server_nodeFound path in 0 iterations (5.63e-07 s). ×2 + 0.11sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.12sINFOros2_control_node[2026-11-03 23:35:50.082] [info] Received new action goal ×2 + 0.12sINFOros2_control_node[2026-11-03 23:35:50.082] [info] Accepted new action goal ×2 + 2.06sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.06sINFOros2_control_node[2026-11-03 23:35:52.021] [info] Got request to cancel active goal. ×2 + 2.06sINFOros2_control_node[2026-11-03 23:35:52.021] [info] Canceling active goal... ×2 + 2.07sERRORobjective_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: 1793748952.03386140 seconds ×3 + 2.11sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.11sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.11sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.11sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.11sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.11sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.12sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.12sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.64sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.64sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.64sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.64sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.64sINFOobjective_server_nodecaller: ×2 + 2.64sINFOobjective_server_nodetype: 0 ×2 + 2.64sINFOobjective_server_nodename: "" ×2 + 2.64sINFOobjective_server_nodeinstance_id: "" ×2 + 2.64sINFOobjective_server_node ×2 + 2.72sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1793748952.68213391 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.72sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.72sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.91sINFOobjective_server_nodeFound path in 0 iterations (3.68e-07 s). ×2 + 2.91sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 2.92sINFOros2_control_node[2026-11-03 23:35:52.886] [info] Received new action goal ×2 + 2.92sINFOros2_control_node[2026-11-03 23:35:52.886] [info] Accepted new action goal ×2 + 4.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.686723 ms (missed cycles : 2). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.686723 ms (missed cycles : 2).[0m ×2 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.070482 ms (missed cycles : 4). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.070482 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Force Relaxation | force_relaxation.xml | 0.0s | 3 errors · 6 warnings · 79 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.11sINFOobjective_server_nodeFound path in 0 iterations (5.63e-07 s). ×2 + 0.11sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.12sINFOros2_control_node[2026-11-03 23:35:50.082] [info] Received new action goal ×2 + 0.12sINFOros2_control_node[2026-11-03 23:35:50.082] [info] Accepted new action goal ×2 + 2.06sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.06sINFOros2_control_node[2026-11-03 23:35:52.021] [info] Got request to cancel active goal. ×2 + 2.06sINFOros2_control_node[2026-11-03 23:35:52.021] [info] Canceling active goal... ×2 + 2.07sERRORobjective_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: 1793748952.03386140 seconds ×3 + 2.11sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.11sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.11sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.11sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.11sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.11sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.12sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.12sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.64sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.64sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.64sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.64sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.64sINFOobjective_server_nodecaller: ×2 + 2.64sINFOobjective_server_nodetype: 0 ×2 + 2.64sINFOobjective_server_nodename: "" ×2 + 2.64sINFOobjective_server_nodeinstance_id: "" ×2 + 2.64sINFOobjective_server_node ×2 + 2.72sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1793748952.68213391 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.72sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.72sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.91sINFOobjective_server_nodeFound path in 0 iterations (3.68e-07 s). ×2 + 2.91sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 2.92sINFOros2_control_node[2026-11-03 23:35:52.886] [info] Received new action goal ×2 + 2.92sINFOros2_control_node[2026-11-03 23:35:52.886] [info] Accepted new action goal ×2 + 4.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.686723 ms (missed cycles : 2). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.686723 ms (missed cycles : 2).[0m ×2 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.070482 ms (missed cycles : 4). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.070482 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Fuse Multiple Views Subtree | fuse_multiple_views_subtree.xml | 0.0s | 3 errors · 6 warnings · 79 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.11sINFOobjective_server_nodeFound path in 0 iterations (5.63e-07 s). ×2 + 0.11sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.12sINFOros2_control_node[2026-11-03 23:35:50.082] [info] Received new action goal ×2 + 0.12sINFOros2_control_node[2026-11-03 23:35:50.082] [info] Accepted new action goal ×2 + 2.06sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.06sINFOros2_control_node[2026-11-03 23:35:52.021] [info] Got request to cancel active goal. ×2 + 2.06sINFOros2_control_node[2026-11-03 23:35:52.021] [info] Canceling active goal... ×2 + 2.07sERRORobjective_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: 1793748952.03386140 seconds ×3 + 2.11sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.11sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.11sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.11sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.11sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.11sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.12sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.12sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.64sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.64sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.64sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.64sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.64sINFOobjective_server_nodecaller: ×2 + 2.64sINFOobjective_server_nodetype: 0 ×2 + 2.64sINFOobjective_server_nodename: "" ×2 + 2.64sINFOobjective_server_nodeinstance_id: "" ×2 + 2.64sINFOobjective_server_node ×2 + 2.72sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1793748952.68213391 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.72sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.72sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.91sINFOobjective_server_nodeFound path in 0 iterations (3.68e-07 s). ×2 + 2.91sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 2.92sINFOros2_control_node[2026-11-03 23:35:52.886] [info] Received new action goal ×2 + 2.92sINFOros2_control_node[2026-11-03 23:35:52.886] [info] Accepted new action goal ×2 + 4.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.686723 ms (missed cycles : 2). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.686723 ms (missed cycles : 2).[0m ×2 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.070482 ms (missed cycles : 4). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.070482 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Get AprilTag Pose from Image | get_april_tag_pose_from_image.xml | 0.0s | 3 errors · 6 warnings · 79 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.11sINFOobjective_server_nodeFound path in 0 iterations (5.63e-07 s). ×2 + 0.11sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.12sINFOros2_control_node[2026-11-03 23:35:50.082] [info] Received new action goal ×2 + 0.12sINFOros2_control_node[2026-11-03 23:35:50.082] [info] Accepted new action goal ×2 + 2.06sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.06sINFOros2_control_node[2026-11-03 23:35:52.021] [info] Got request to cancel active goal. ×2 + 2.06sINFOros2_control_node[2026-11-03 23:35:52.021] [info] Canceling active goal... ×2 + 2.07sERRORobjective_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: 1793748952.03386140 seconds ×3 + 2.11sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.11sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.11sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.11sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.11sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.11sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.12sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.12sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.64sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.64sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.64sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.64sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.64sINFOobjective_server_nodecaller: ×2 + 2.64sINFOobjective_server_nodetype: 0 ×2 + 2.64sINFOobjective_server_nodename: "" ×2 + 2.64sINFOobjective_server_nodeinstance_id: "" ×2 + 2.64sINFOobjective_server_node ×2 + 2.72sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1793748952.68213391 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.72sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.72sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.91sINFOobjective_server_nodeFound path in 0 iterations (3.68e-07 s). ×2 + 2.91sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 2.92sINFOros2_control_node[2026-11-03 23:35:52.886] [info] Received new action goal ×2 + 2.92sINFOros2_control_node[2026-11-03 23:35:52.886] [info] Accepted new action goal ×2 + 4.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.686723 ms (missed cycles : 2). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.686723 ms (missed cycles : 2).[0m ×2 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.070482 ms (missed cycles : 4). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.070482 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Get Bottle Grasp via ICP Subtree | get_bottle_grasp_via_icp_subtree.xml | 0.0s | 3 errors · 6 warnings · 79 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.11sINFOobjective_server_nodeFound path in 0 iterations (5.63e-07 s). ×2 + 0.11sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.12sINFOros2_control_node[2026-11-03 23:35:50.082] [info] Received new action goal ×2 + 0.12sINFOros2_control_node[2026-11-03 23:35:50.082] [info] Accepted new action goal ×2 + 2.06sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.06sINFOros2_control_node[2026-11-03 23:35:52.021] [info] Got request to cancel active goal. ×2 + 2.06sINFOros2_control_node[2026-11-03 23:35:52.021] [info] Canceling active goal... ×2 + 2.07sERRORobjective_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: 1793748952.03386140 seconds ×3 + 2.11sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.11sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.11sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.11sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.11sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.11sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.12sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.12sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.64sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.64sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.64sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.64sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.64sINFOobjective_server_nodecaller: ×2 + 2.64sINFOobjective_server_nodetype: 0 ×2 + 2.64sINFOobjective_server_nodename: "" ×2 + 2.64sINFOobjective_server_nodeinstance_id: "" ×2 + 2.64sINFOobjective_server_node ×2 + 2.72sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1793748952.68213391 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.72sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.72sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.91sINFOobjective_server_nodeFound path in 0 iterations (3.68e-07 s). ×2 + 2.91sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 2.92sINFOros2_control_node[2026-11-03 23:35:52.886] [info] Received new action goal ×2 + 2.92sINFOros2_control_node[2026-11-03 23:35:52.886] [info] Accepted new action goal ×2 + 4.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.686723 ms (missed cycles : 2). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.686723 ms (missed cycles : 2).[0m ×2 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.070482 ms (missed cycles : 4). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.070482 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Get Collision Free Grasp Subtree | get_collision_free_grasp_subtree.xml | 0.0s | 3 errors · 6 warnings · 79 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.11sINFOobjective_server_nodeFound path in 0 iterations (5.63e-07 s). ×2 + 0.11sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.12sINFOros2_control_node[2026-11-03 23:35:50.082] [info] Received new action goal ×2 + 0.12sINFOros2_control_node[2026-11-03 23:35:50.082] [info] Accepted new action goal ×2 + 2.06sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.06sINFOros2_control_node[2026-11-03 23:35:52.021] [info] Got request to cancel active goal. ×2 + 2.06sINFOros2_control_node[2026-11-03 23:35:52.021] [info] Canceling active goal... ×2 + 2.07sERRORobjective_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: 1793748952.03386140 seconds ×3 + 2.11sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.11sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.11sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.11sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.11sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.11sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.12sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.12sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.64sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.64sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.64sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.64sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.64sINFOobjective_server_nodecaller: ×2 + 2.64sINFOobjective_server_nodetype: 0 ×2 + 2.64sINFOobjective_server_nodename: "" ×2 + 2.64sINFOobjective_server_nodeinstance_id: "" ×2 + 2.64sINFOobjective_server_node ×2 + 2.72sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1793748952.68213391 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.72sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.72sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.91sINFOobjective_server_nodeFound path in 0 iterations (3.68e-07 s). ×2 + 2.91sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 2.92sINFOros2_control_node[2026-11-03 23:35:52.886] [info] Received new action goal ×2 + 2.92sINFOros2_control_node[2026-11-03 23:35:52.886] [info] Accepted new action goal ×2 + 4.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.686723 ms (missed cycles : 2). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.686723 ms (missed cycles : 2).[0m ×2 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.070482 ms (missed cycles : 4). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.070482 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Get Fresh Point Cloud | get_fresh_point_cloud.xml | 0.0s | 3 errors · 6 warnings · 79 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.11sINFOobjective_server_nodeFound path in 0 iterations (5.63e-07 s). ×2 + 0.11sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.12sINFOros2_control_node[2026-11-03 23:35:50.082] [info] Received new action goal ×2 + 0.12sINFOros2_control_node[2026-11-03 23:35:50.082] [info] Accepted new action goal ×2 + 2.06sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.06sINFOros2_control_node[2026-11-03 23:35:52.021] [info] Got request to cancel active goal. ×2 + 2.06sINFOros2_control_node[2026-11-03 23:35:52.021] [info] Canceling active goal... ×2 + 2.07sERRORobjective_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: 1793748952.03386140 seconds ×3 + 2.11sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.11sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.11sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.11sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.11sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.11sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.12sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.12sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.64sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.64sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.64sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.64sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.64sINFOobjective_server_nodecaller: ×2 + 2.64sINFOobjective_server_nodetype: 0 ×2 + 2.64sINFOobjective_server_nodename: "" ×2 + 2.64sINFOobjective_server_nodeinstance_id: "" ×2 + 2.64sINFOobjective_server_node ×2 + 2.72sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1793748952.68213391 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.72sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.72sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.91sINFOobjective_server_nodeFound path in 0 iterations (3.68e-07 s). ×2 + 2.91sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 2.92sINFOros2_control_node[2026-11-03 23:35:52.886] [info] Received new action goal ×2 + 2.92sINFOros2_control_node[2026-11-03 23:35:52.886] [info] Accepted new action goal ×2 + 4.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.686723 ms (missed cycles : 2). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.686723 ms (missed cycles : 2).[0m ×2 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.070482 ms (missed cycles : 4). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.070482 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | GetPoseAtGripperandDisplay | get_pose_at_gripper_and_display.xml | 0.0s | 3 errors · 6 warnings · 79 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.11sINFOobjective_server_nodeFound path in 0 iterations (5.63e-07 s). ×2 + 0.11sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.12sINFOros2_control_node[2026-11-03 23:35:50.082] [info] Received new action goal ×2 + 0.12sINFOros2_control_node[2026-11-03 23:35:50.082] [info] Accepted new action goal ×2 + 2.06sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.06sINFOros2_control_node[2026-11-03 23:35:52.021] [info] Got request to cancel active goal. ×2 + 2.06sINFOros2_control_node[2026-11-03 23:35:52.021] [info] Canceling active goal... ×2 + 2.07sERRORobjective_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: 1793748952.03386140 seconds ×3 + 2.11sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.11sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.11sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.11sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.11sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.11sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.12sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.12sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.64sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.64sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.64sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.64sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.64sINFOobjective_server_nodecaller: ×2 + 2.64sINFOobjective_server_nodetype: 0 ×2 + 2.64sINFOobjective_server_nodename: "" ×2 + 2.64sINFOobjective_server_nodeinstance_id: "" ×2 + 2.64sINFOobjective_server_node ×2 + 2.72sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1793748952.68213391 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.72sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.72sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.91sINFOobjective_server_nodeFound path in 0 iterations (3.68e-07 s). ×2 + 2.91sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 2.92sINFOros2_control_node[2026-11-03 23:35:52.886] [info] Received new action goal ×2 + 2.92sINFOros2_control_node[2026-11-03 23:35:52.886] [info] Accepted new action goal ×2 + 4.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.686723 ms (missed cycles : 2). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.686723 ms (missed cycles : 2).[0m ×2 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.070482 ms (missed cycles : 4). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.070482 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Get Transform Frame Pose | get_transform_frame_pose.xml | 0.0s | 3 errors · 6 warnings · 79 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.11sINFOobjective_server_nodeFound path in 0 iterations (5.63e-07 s). ×2 + 0.11sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.12sINFOros2_control_node[2026-11-03 23:35:50.082] [info] Received new action goal ×2 + 0.12sINFOros2_control_node[2026-11-03 23:35:50.082] [info] Accepted new action goal ×2 + 2.06sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.06sINFOros2_control_node[2026-11-03 23:35:52.021] [info] Got request to cancel active goal. ×2 + 2.06sINFOros2_control_node[2026-11-03 23:35:52.021] [info] Canceling active goal... ×2 + 2.07sERRORobjective_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: 1793748952.03386140 seconds ×3 + 2.11sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.11sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.11sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.11sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.11sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.11sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.12sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.12sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.64sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.64sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.64sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.64sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.64sINFOobjective_server_nodecaller: ×2 + 2.64sINFOobjective_server_nodetype: 0 ×2 + 2.64sINFOobjective_server_nodename: "" ×2 + 2.64sINFOobjective_server_nodeinstance_id: "" ×2 + 2.64sINFOobjective_server_node ×2 + 2.72sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1793748952.68213391 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.72sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.72sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.91sINFOobjective_server_nodeFound path in 0 iterations (3.68e-07 s). ×2 + 2.91sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 2.92sINFOros2_control_node[2026-11-03 23:35:52.886] [info] Received new action goal ×2 + 2.92sINFOros2_control_node[2026-11-03 23:35:52.886] [info] Accepted new action goal ×2 + 4.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.686723 ms (missed cycles : 2). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.686723 ms (missed cycles : 2).[0m ×2 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.070482 ms (missed cycles : 4). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.070482 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Grasp Planning | grasp_planning.xml | 0.0s | 3 errors · 6 warnings · 79 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.11sINFOobjective_server_nodeFound path in 0 iterations (5.63e-07 s). ×2 + 0.11sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.12sINFOros2_control_node[2026-11-03 23:35:50.082] [info] Received new action goal ×2 + 0.12sINFOros2_control_node[2026-11-03 23:35:50.082] [info] Accepted new action goal ×2 + 2.06sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.06sINFOros2_control_node[2026-11-03 23:35:52.021] [info] Got request to cancel active goal. ×2 + 2.06sINFOros2_control_node[2026-11-03 23:35:52.021] [info] Canceling active goal... ×2 + 2.07sERRORobjective_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: 1793748952.03386140 seconds ×3 + 2.11sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.11sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.11sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.11sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.11sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.11sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.12sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.12sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.64sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.64sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.64sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.64sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.64sINFOobjective_server_nodecaller: ×2 + 2.64sINFOobjective_server_nodetype: 0 ×2 + 2.64sINFOobjective_server_nodename: "" ×2 + 2.64sINFOobjective_server_nodeinstance_id: "" ×2 + 2.64sINFOobjective_server_node ×2 + 2.72sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1793748952.68213391 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.72sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.72sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.91sINFOobjective_server_nodeFound path in 0 iterations (3.68e-07 s). ×2 + 2.91sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 2.92sINFOros2_control_node[2026-11-03 23:35:52.886] [info] Received new action goal ×2 + 2.92sINFOros2_control_node[2026-11-03 23:35:52.886] [info] Accepted new action goal ×2 + 4.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.686723 ms (missed cycles : 2). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.686723 ms (missed cycles : 2).[0m ×2 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.070482 ms (missed cycles : 4). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.070482 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Joint Diagnostic | joint_diagnostic.xml | 0.0s | 3 errors · 100 info |
+ 0.00sINFOobjective_server_nodeFound path in 0 iterations (3.28e-07 s). ×2 + 0.00sINFOobjective_server_nodePath shortcutter: [X__X] ×2 + 0.00sINFOobjective_server_nodeFound path in 0 iterations (3.29e-07 s). ×2 + 0.01sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 0.02sINFOobjective_server_nodeFound path in 0 iterations (5.48e-07 s). ×2 + 0.11sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X] ×2 + 0.14sINFOobjective_server_nodeFound path in 1 iterations (0.00321958 s). ×2 + 0.30sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________________________X_________________X] ×2 + 0.36sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.37sINFOros2_control_node[2026-11-03 23:36:11.693] [info] Received new action goal ×2 + 0.37sINFOros2_control_node[2026-11-03 23:36:11.693] [info] Accepted new action goal ×2 + 0.80sINFOros2_control_node[2026-11-03 23:36:12.125] [info] Received new action goal ×2 + 0.80sINFOros2_control_node[2026-11-03 23:36:12.125] [info] Accepted new action goal ×2 + 2.12sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.12sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.80sINFOobjective_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 + 2.80sINFOrobotiq_gripper_controllerGot request to cancel goal + 2.80sINFOrobotiq_gripper_controllerCanceling active action goal because cancel callback received. + 2.80sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 2.80sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 2.82sERRORobjective_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: 1793748974.14033818 seconds ×3 + 2.82sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.82sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.82sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.82sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.82sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.83sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.83sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.83sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.83sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.83sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.83sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.83sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.52sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Live Surface Coverage Demo"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.52sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.52sINFOobjective_server_nodeobjective_name: "Live Surface Coverage Demo" ×2 + 3.52sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.52sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.52sINFOobjective_server_nodecaller: ×2 + 3.52sINFOobjective_server_nodetype: 0 ×2 + 3.52sINFOobjective_server_nodename: "" ×2 + 3.52sINFOobjective_server_nodeinstance_id: "" ×2 + 3.52sINFOobjective_server_node ×2 + 3.64sINFOobjective_server_nodeObjective `Live Surface Coverage Demo` starting at time: 1793748974.96551466 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.67sINFOobjective_server_nodeFound path in 0 iterations (2.39e-07 s). ×2 + 4.67sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.68sINFOros2_control_node[2026-11-03 23:36:15.999] [info] Received new action goal ×2 + 4.68sINFOros2_control_node[2026-11-03 23:36:15.999] [info] Accepted new action goal ×2 | ||||
| − skipped | LoadAndVisualizePointCloud | load_and_visualize_point_cloud.xml | 0.0s | 3 warnings · 138 info |
+ 0.00sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1793749005.95246959 seconds ×3 + 0.01sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 0.01sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 0.01sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×6 + 0.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 0.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 0.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 0.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 0.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 0.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load MuJoCo Robot State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.54sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.54sINFOobjective_server_nodeobjective_name: "Load MuJoCo Robot State" ×2 + 0.54sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.54sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.54sINFOobjective_server_nodecaller: ×4 + 0.54sINFOobjective_server_nodetype: 0 ×4 + 0.54sINFOobjective_server_nodename: "" ×4 + 0.54sINFOobjective_server_nodeinstance_id: "" ×4 + 0.54sINFOobjective_server_node ×4 + 0.59sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1793749006.54734397 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.64sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 0.64sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 0.65sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 0.65sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 0.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.697662 ms (missed cycles : 3). + 0.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.697662 ms (missed cycles : 3).[0m ×2 + 0.67sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1793749006.61753941 seconds ×3 + 1.40sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.40sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 1.46sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1793749007.40948057 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.47sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 1.56sINFOobjective_server_nodeFound path in 0 iterations (4.08e-07 s). ×2 + 1.56sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.57sINFOros2_control_node[2026-11-03 23:36:47.523] [info] Received new action goal ×2 + 1.57sINFOros2_control_node[2026-11-03 23:36:47.523] [info] Accepted new action goal ×2 + 3.58sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1793749009.52964664 seconds ×3 | ||||
| − skipped | ML Find Bottles on Table from Image Exemplar | ml_find_bottles_on_table_from_image_exemplar.xml | 0.0s | 103 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.00sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.00sINFOobjective_server_nodecaller: ×4 + 0.00sINFOobjective_server_nodetype: 0 ×4 + 0.00sINFOobjective_server_nodename: "" ×4 + 0.00sINFOobjective_server_nodeinstance_id: "" ×4 + 0.00sINFOobjective_server_node ×4 + 0.06sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1793749007.40948057 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.07sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.17sINFOobjective_server_nodeFound path in 0 iterations (4.08e-07 s). ×2 + 0.17sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.18sINFOros2_control_node[2026-11-03 23:36:47.523] [info] Received new action goal ×2 + 0.18sINFOros2_control_node[2026-11-03 23:36:47.523] [info] Accepted new action goal ×2 + 2.18sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1793749009.52964664 seconds ×3 + 3.19sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.19sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.19sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.19sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.19sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.19sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.20sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.20sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.73sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.81sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1793749011.15588689 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.81sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.89sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.90sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.17sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 4.17sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.22sINFOros2_control_node[2026-11-03 23:36:51.564] [info] Received new action goal ×2 + 4.22sINFOros2_control_node[2026-11-03 23:36:51.564] [info] Accepted new action goal ×2 | ||||
| − skipped | ML Segment Bottles from File | ml_segment_bottles_from_file.xml | 0.0s | 103 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.00sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.00sINFOobjective_server_nodecaller: ×4 + 0.00sINFOobjective_server_nodetype: 0 ×4 + 0.00sINFOobjective_server_nodename: "" ×4 + 0.00sINFOobjective_server_nodeinstance_id: "" ×4 + 0.00sINFOobjective_server_node ×4 + 0.06sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1793749007.40948057 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.07sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.17sINFOobjective_server_nodeFound path in 0 iterations (4.08e-07 s). ×2 + 0.17sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.18sINFOros2_control_node[2026-11-03 23:36:47.523] [info] Received new action goal ×2 + 0.18sINFOros2_control_node[2026-11-03 23:36:47.523] [info] Accepted new action goal ×2 + 2.18sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1793749009.52964664 seconds ×3 + 3.19sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.19sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.19sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.19sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.19sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.19sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.20sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.20sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.73sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.81sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1793749011.15588689 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.81sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.89sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.90sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.17sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 4.17sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.22sINFOros2_control_node[2026-11-03 23:36:51.564] [info] Received new action goal ×2 + 4.22sINFOros2_control_node[2026-11-03 23:36:51.564] [info] Accepted new action goal ×2 | ||||
| − skipped | ML Segment Image | ml_segment_image.xml | 0.0s | 103 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.00sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.00sINFOobjective_server_nodecaller: ×4 + 0.00sINFOobjective_server_nodetype: 0 ×4 + 0.00sINFOobjective_server_nodename: "" ×4 + 0.00sINFOobjective_server_nodeinstance_id: "" ×4 + 0.00sINFOobjective_server_node ×4 + 0.06sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1793749007.40948057 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.07sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.17sINFOobjective_server_nodeFound path in 0 iterations (4.08e-07 s). ×2 + 0.17sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.18sINFOros2_control_node[2026-11-03 23:36:47.523] [info] Received new action goal ×2 + 0.18sINFOros2_control_node[2026-11-03 23:36:47.523] [info] Accepted new action goal ×2 + 2.18sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1793749009.52964664 seconds ×3 + 3.19sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.19sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.19sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.19sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.19sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.19sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.20sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.20sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.73sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.81sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1793749011.15588689 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.81sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.89sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.90sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.17sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 4.17sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.22sINFOros2_control_node[2026-11-03 23:36:51.564] [info] Received new action goal ×2 + 4.22sINFOros2_control_node[2026-11-03 23:36:51.564] [info] Accepted new action goal ×2 | ||||
| − skipped | ML Segment Image Loop | ml_segment_image_loop.xml | 0.0s | 103 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.00sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.00sINFOobjective_server_nodecaller: ×4 + 0.00sINFOobjective_server_nodetype: 0 ×4 + 0.00sINFOobjective_server_nodename: "" ×4 + 0.00sINFOobjective_server_nodeinstance_id: "" ×4 + 0.00sINFOobjective_server_node ×4 + 0.06sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1793749007.40948057 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.07sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.17sINFOobjective_server_nodeFound path in 0 iterations (4.08e-07 s). ×2 + 0.17sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.18sINFOros2_control_node[2026-11-03 23:36:47.523] [info] Received new action goal ×2 + 0.18sINFOros2_control_node[2026-11-03 23:36:47.523] [info] Accepted new action goal ×2 + 2.18sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1793749009.52964664 seconds ×3 + 3.19sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.19sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.19sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.19sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.19sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.19sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.20sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.20sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.73sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.81sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1793749011.15588689 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.81sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.89sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.90sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.17sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 4.17sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.22sINFOros2_control_node[2026-11-03 23:36:51.564] [info] Received new action goal ×2 + 4.22sINFOros2_control_node[2026-11-03 23:36:51.564] [info] Accepted new action goal ×2 | ||||
| − skipped | ML Segment Point Cloud | ml_segment_point_cloud.xml | 0.0s | 103 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.00sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.00sINFOobjective_server_nodecaller: ×4 + 0.00sINFOobjective_server_nodetype: 0 ×4 + 0.00sINFOobjective_server_nodename: "" ×4 + 0.00sINFOobjective_server_nodeinstance_id: "" ×4 + 0.00sINFOobjective_server_node ×4 + 0.06sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1793749007.40948057 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.07sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.17sINFOobjective_server_nodeFound path in 0 iterations (4.08e-07 s). ×2 + 0.17sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.18sINFOros2_control_node[2026-11-03 23:36:47.523] [info] Received new action goal ×2 + 0.18sINFOros2_control_node[2026-11-03 23:36:47.523] [info] Accepted new action goal ×2 + 2.18sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1793749009.52964664 seconds ×3 + 3.19sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.19sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.19sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.19sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.19sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.19sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.20sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.20sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.73sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.81sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1793749011.15588689 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.81sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.89sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.90sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.17sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 4.17sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.22sINFOros2_control_node[2026-11-03 23:36:51.564] [info] Received new action goal ×2 + 4.22sINFOros2_control_node[2026-11-03 23:36:51.564] [info] Accepted new action goal ×2 | ||||
| − skipped | ML Segment Point Cloud from Clicked Point | ml_segment_point_cloud_from_clicked_point.xml | 0.0s | 103 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.00sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.00sINFOobjective_server_nodecaller: ×4 + 0.00sINFOobjective_server_nodetype: 0 ×4 + 0.00sINFOobjective_server_nodename: "" ×4 + 0.00sINFOobjective_server_nodeinstance_id: "" ×4 + 0.00sINFOobjective_server_node ×4 + 0.06sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1793749007.40948057 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.07sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.17sINFOobjective_server_nodeFound path in 0 iterations (4.08e-07 s). ×2 + 0.17sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.18sINFOros2_control_node[2026-11-03 23:36:47.523] [info] Received new action goal ×2 + 0.18sINFOros2_control_node[2026-11-03 23:36:47.523] [info] Accepted new action goal ×2 + 2.18sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1793749009.52964664 seconds ×3 + 3.19sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.19sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.19sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.19sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.19sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.19sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.20sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.20sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.73sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.81sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1793749011.15588689 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.81sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.89sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.90sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.17sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 4.17sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.22sINFOros2_control_node[2026-11-03 23:36:51.564] [info] Received new action goal ×2 + 4.22sINFOros2_control_node[2026-11-03 23:36:51.564] [info] Accepted new action goal ×2 | ||||
| − skipped | Move Along Square | move_along_square.xml | 0.0s | 103 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.00sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.00sINFOobjective_server_nodecaller: ×4 + 0.00sINFOobjective_server_nodetype: 0 ×4 + 0.00sINFOobjective_server_nodename: "" ×4 + 0.00sINFOobjective_server_nodeinstance_id: "" ×4 + 0.00sINFOobjective_server_node ×4 + 0.06sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1793749007.40948057 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.07sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.17sINFOobjective_server_nodeFound path in 0 iterations (4.08e-07 s). ×2 + 0.17sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.18sINFOros2_control_node[2026-11-03 23:36:47.523] [info] Received new action goal ×2 + 0.18sINFOros2_control_node[2026-11-03 23:36:47.523] [info] Accepted new action goal ×2 + 2.18sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1793749009.52964664 seconds ×3 + 3.19sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.19sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.19sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.19sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.19sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.19sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.20sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.20sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.73sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.81sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1793749011.15588689 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.81sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.89sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.90sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.17sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 4.17sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.22sINFOros2_control_node[2026-11-03 23:36:51.564] [info] Received new action goal ×2 + 4.22sINFOros2_control_node[2026-11-03 23:36:51.564] [info] Accepted new action goal ×2 | ||||
| − skipped | MPC Pose Tracking | mpc_pose_tracking.xml | 0.0s | 6 warnings · 84 info |
+ 0.00sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1793749064.92988229 seconds ×3 + 0.01sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 0.01sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 0.01sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×3 + 0.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 0.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 0.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 0.02sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 0.02sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 0.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 0.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 0.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.54sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 0.54sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample" ×2 + 0.54sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 0.54sINFOobjective_server_nodeparameter_overrides: [] ×2 + 0.54sINFOobjective_server_nodecaller: ×2 + 0.54sINFOobjective_server_nodetype: 0 ×2 + 0.54sINFOobjective_server_nodename: "" ×2 + 0.54sINFOobjective_server_nodeinstance_id: "" ×2 + 0.54sINFOobjective_server_node ×2 + 0.61sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1793749065.54466391 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.69sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 0.78sINFOobjective_server_nodeFound path in 0 iterations (2.27e-07 s). ×2 + 0.78sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 0.79sINFOros2_control_node[2026-11-03 23:37:45.718] [info] Received new action goal ×2 + 0.79sINFOros2_control_node[2026-11-03 23:37:45.718] [info] Accepted new action goal ×2 + 2.06sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.16727752384940525;y=0.47323919871065;z=0.7971805284211555, orientation: x=0.5894248519484582;y=0.7987881401812754;z=0.09721280806199328;w=-0.07117247333048911 ×3 + 2.06sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 2.14sINFOobjective_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 + 2.14sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 2.14sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] + 2.14sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 2.14sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 2.14sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] + 2.14sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 2.14sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 2.14sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.742295 ms (missed cycles : 2). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.742295 ms (missed cycles : 2).[0m ×2 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796452 ms (missed cycles : 2). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796452 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | MPC Pose Tracking With Point Cloud Avoidance | mpc_pose_tracking_with_point_cloud_avoidance.xml | 0.0s | 12 warnings · 2504 info |
+ 0.00sINFOros2_control_nodeReceived new action goal[0m ×806 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×806 + 0.01sINFOjoint_trajectory_controllerReceived new action goal ×402 + 0.01sINFOjoint_trajectory_controllerAccepted new action goal ×402 + 0.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.038795 ms (missed cycles : 2). + 0.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.038795 ms (missed cycles : 2).[0m ×2 + 1.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.893087 ms (missed cycles : 2). + 1.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.893087 ms (missed cycles : 2).[0m ×2 + 2.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.038342 ms (missed cycles : 2). + 2.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.038342 ms (missed cycles : 2).[0m ×2 + 3.37sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1793749131.56190848 seconds ×3 + 3.37sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.37sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.37sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.37sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.47sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.47sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.47sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.47sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.47sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.47sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.48sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.48sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.48sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.48sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.48sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.48sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object With Approval"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.01sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 4.01sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 4.01sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 4.01sINFOobjective_server_nodeparameter_overrides: [] ×2 + 4.01sINFOobjective_server_nodecaller: ×2 + 4.01sINFOobjective_server_nodetype: 0 ×2 + 4.01sINFOobjective_server_nodename: "" ×2 + 4.01sINFOobjective_server_nodeinstance_id: "" ×2 + 4.01sINFOobjective_server_node ×2 + 4.11sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1793749132.30682731 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.12sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.12sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.20sINFOobjective_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 + 4.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.20sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.21sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.21sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.21sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.30sINFOobjective_server_nodeFound path in 0 iterations (3.38e-07 s). ×2 + 4.30sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.31sINFOros2_control_node[2026-11-03 23:38:52.501] [info] Received new action goal ×2 + 4.31sINFOros2_control_node[2026-11-03 23:38:52.501] [info] Accepted new action goal ×2 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.361063 ms (missed cycles : 2). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.361063 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Octomap Example | octomap_example.xml | 0.0s | 12 warnings · 2504 info |
+ 0.00sINFOros2_control_nodeReceived new action goal[0m ×806 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×806 + 0.01sINFOjoint_trajectory_controllerReceived new action goal ×402 + 0.01sINFOjoint_trajectory_controllerAccepted new action goal ×402 + 0.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.038795 ms (missed cycles : 2). + 0.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.038795 ms (missed cycles : 2).[0m ×2 + 1.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.893087 ms (missed cycles : 2). + 1.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.893087 ms (missed cycles : 2).[0m ×2 + 2.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.038342 ms (missed cycles : 2). + 2.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.038342 ms (missed cycles : 2).[0m ×2 + 3.37sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1793749131.56190848 seconds ×3 + 3.37sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.37sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.37sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.37sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.47sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.47sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.47sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.47sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.47sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.47sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.48sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.48sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.48sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.48sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.48sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.48sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object With Approval"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.01sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 4.01sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 4.01sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 4.01sINFOobjective_server_nodeparameter_overrides: [] ×2 + 4.01sINFOobjective_server_nodecaller: ×2 + 4.01sINFOobjective_server_nodetype: 0 ×2 + 4.01sINFOobjective_server_nodename: "" ×2 + 4.01sINFOobjective_server_nodeinstance_id: "" ×2 + 4.01sINFOobjective_server_node ×2 + 4.11sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1793749132.30682731 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.12sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.12sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.20sINFOobjective_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 + 4.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.20sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.21sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.21sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.21sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.30sINFOobjective_server_nodeFound path in 0 iterations (3.38e-07 s). ×2 + 4.30sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.31sINFOros2_control_node[2026-11-03 23:38:52.501] [info] Received new action goal ×2 + 4.31sINFOros2_control_node[2026-11-03 23:38:52.501] [info] Accepted new action goal ×2 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.361063 ms (missed cycles : 2). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.361063 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Pick All Bottles with AprilTags | pick_all_bottles_with_apriltags.xml | 0.0s | 12 warnings · 2504 info |
+ 0.00sINFOros2_control_nodeReceived new action goal[0m ×806 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×806 + 0.01sINFOjoint_trajectory_controllerReceived new action goal ×402 + 0.01sINFOjoint_trajectory_controllerAccepted new action goal ×402 + 0.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.038795 ms (missed cycles : 2). + 0.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.038795 ms (missed cycles : 2).[0m ×2 + 1.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.893087 ms (missed cycles : 2). + 1.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.893087 ms (missed cycles : 2).[0m ×2 + 2.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.038342 ms (missed cycles : 2). + 2.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.038342 ms (missed cycles : 2).[0m ×2 + 3.37sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1793749131.56190848 seconds ×3 + 3.37sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.37sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.37sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.37sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.47sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.47sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.47sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.47sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.47sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.47sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.48sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.48sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.48sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.48sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.48sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.48sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object With Approval"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.01sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 4.01sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 4.01sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 4.01sINFOobjective_server_nodeparameter_overrides: [] ×2 + 4.01sINFOobjective_server_nodecaller: ×2 + 4.01sINFOobjective_server_nodetype: 0 ×2 + 4.01sINFOobjective_server_nodename: "" ×2 + 4.01sINFOobjective_server_nodeinstance_id: "" ×2 + 4.01sINFOobjective_server_node ×2 + 4.11sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1793749132.30682731 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.12sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.12sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.20sINFOobjective_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 + 4.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.20sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.21sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.21sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.21sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.30sINFOobjective_server_nodeFound path in 0 iterations (3.38e-07 s). ×2 + 4.30sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.31sINFOros2_control_node[2026-11-03 23:38:52.501] [info] Received new action goal ×2 + 4.31sINFOros2_control_node[2026-11-03 23:38:52.501] [info] Accepted new action goal ×2 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.361063 ms (missed cycles : 2). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.361063 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Pick All Pill Bottles | pick_all_pill_bottles.xml | 0.0s | 12 warnings · 2504 info |
+ 0.00sINFOros2_control_nodeReceived new action goal[0m ×806 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×806 + 0.01sINFOjoint_trajectory_controllerReceived new action goal ×402 + 0.01sINFOjoint_trajectory_controllerAccepted new action goal ×402 + 0.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.038795 ms (missed cycles : 2). + 0.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.038795 ms (missed cycles : 2).[0m ×2 + 1.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.893087 ms (missed cycles : 2). + 1.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.893087 ms (missed cycles : 2).[0m ×2 + 2.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.038342 ms (missed cycles : 2). + 2.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.038342 ms (missed cycles : 2).[0m ×2 + 3.37sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1793749131.56190848 seconds ×3 + 3.37sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.37sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.37sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.37sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.47sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.47sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.47sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.47sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.47sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.47sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.48sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.48sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.48sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.48sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.48sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.48sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object With Approval"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.01sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 4.01sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 4.01sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 4.01sINFOobjective_server_nodeparameter_overrides: [] ×2 + 4.01sINFOobjective_server_nodecaller: ×2 + 4.01sINFOobjective_server_nodetype: 0 ×2 + 4.01sINFOobjective_server_nodename: "" ×2 + 4.01sINFOobjective_server_nodeinstance_id: "" ×2 + 4.01sINFOobjective_server_node ×2 + 4.11sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1793749132.30682731 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.12sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.12sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.20sINFOobjective_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 + 4.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.20sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.21sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.21sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.21sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.30sINFOobjective_server_nodeFound path in 0 iterations (3.38e-07 s). ×2 + 4.30sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.31sINFOros2_control_node[2026-11-03 23:38:52.501] [info] Received new action goal ×2 + 4.31sINFOros2_control_node[2026-11-03 23:38:52.501] [info] Accepted new action goal ×2 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.361063 ms (missed cycles : 2). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.361063 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Pick from AprilTag Detections | pick_from_apriltag_detections.xml | 0.0s | 80 info |
+ 0.00sINFOros2_control_node[2026-11-03 23:38:59.557] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-11-03 23:38:59.557] [info] Accepted new action goal ×2 + 1.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.44sINFOros2_control_nodeMuJoCo sim: 0.04% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.65sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.66sINFOros2_control_node[2026-11-03 23:39:01.221] [info] Received new action goal ×2 + 1.67sINFOros2_control_node[2026-11-03 23:39:01.221] [info] Accepted new action goal ×2 + 2.96sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1793749142.51703954 seconds ×3 + 3.00sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.00sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.00sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.00sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.00sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.01sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.01sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.53sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.53sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.53sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.53sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.53sINFOobjective_server_nodecaller: ×2 + 3.53sINFOobjective_server_nodetype: 0 ×2 + 3.53sINFOobjective_server_nodename: "" ×2 + 3.53sINFOobjective_server_nodeinstance_id: "" ×2 + 3.53sINFOobjective_server_node ×2 + 3.64sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1793749143.19579220 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.71sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.81sINFOobjective_server_nodeFound path in 0 iterations (2.32e-07 s). ×2 + 3.81sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.82sINFOros2_control_node[2026-11-03 23:39:03.380] [info] Received new action goal ×2 + 3.82sINFOros2_control_node[2026-11-03 23:39:03.380] [info] Accepted new action goal ×2 + 5.73sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − skipped | Pick from Pose | pick_from_pose.xml | 0.0s | 80 info |
+ 0.00sINFOros2_control_node[2026-11-03 23:38:59.557] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-11-03 23:38:59.557] [info] Accepted new action goal ×2 + 1.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.44sINFOros2_control_nodeMuJoCo sim: 0.04% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.65sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.66sINFOros2_control_node[2026-11-03 23:39:01.221] [info] Received new action goal ×2 + 1.67sINFOros2_control_node[2026-11-03 23:39:01.221] [info] Accepted new action goal ×2 + 2.96sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1793749142.51703954 seconds ×3 + 3.00sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.00sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.00sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.00sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.00sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.01sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.01sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.53sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.53sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.53sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.53sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.53sINFOobjective_server_nodecaller: ×2 + 3.53sINFOobjective_server_nodetype: 0 ×2 + 3.53sINFOobjective_server_nodename: "" ×2 + 3.53sINFOobjective_server_nodeinstance_id: "" ×2 + 3.53sINFOobjective_server_node ×2 + 3.64sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1793749143.19579220 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.71sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.81sINFOobjective_server_nodeFound path in 0 iterations (2.32e-07 s). ×2 + 3.81sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.82sINFOros2_control_node[2026-11-03 23:39:03.380] [info] Received new action goal ×2 + 3.82sINFOros2_control_node[2026-11-03 23:39:03.380] [info] Accepted new action goal ×2 + 5.73sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − skipped | Pick from Pose Vector | pick_from_pose_vector.xml | 0.0s | 80 info |
+ 0.00sINFOros2_control_node[2026-11-03 23:38:59.557] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-11-03 23:38:59.557] [info] Accepted new action goal ×2 + 1.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.44sINFOros2_control_nodeMuJoCo sim: 0.04% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.65sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.66sINFOros2_control_node[2026-11-03 23:39:01.221] [info] Received new action goal ×2 + 1.67sINFOros2_control_node[2026-11-03 23:39:01.221] [info] Accepted new action goal ×2 + 2.96sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1793749142.51703954 seconds ×3 + 3.00sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.00sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.00sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.00sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.00sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.01sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.01sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.53sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.53sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.53sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.53sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.53sINFOobjective_server_nodecaller: ×2 + 3.53sINFOobjective_server_nodetype: 0 ×2 + 3.53sINFOobjective_server_nodename: "" ×2 + 3.53sINFOobjective_server_nodeinstance_id: "" ×2 + 3.53sINFOobjective_server_node ×2 + 3.64sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1793749143.19579220 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.71sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.81sINFOobjective_server_nodeFound path in 0 iterations (2.32e-07 s). ×2 + 3.81sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.82sINFOros2_control_node[2026-11-03 23:39:03.380] [info] Received new action goal ×2 + 3.82sINFOros2_control_node[2026-11-03 23:39:03.380] [info] Accepted new action goal ×2 + 5.73sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − skipped | Pick from Pose With Approval | pick_from_pose_with_approval.xml | 0.0s | 80 info |
+ 0.00sINFOros2_control_node[2026-11-03 23:38:59.557] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-11-03 23:38:59.557] [info] Accepted new action goal ×2 + 1.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.44sINFOros2_control_nodeMuJoCo sim: 0.04% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.65sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.66sINFOros2_control_node[2026-11-03 23:39:01.221] [info] Received new action goal ×2 + 1.67sINFOros2_control_node[2026-11-03 23:39:01.221] [info] Accepted new action goal ×2 + 2.96sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1793749142.51703954 seconds ×3 + 3.00sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.00sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.00sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.00sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.00sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.01sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.01sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.53sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.53sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.53sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.53sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.53sINFOobjective_server_nodecaller: ×2 + 3.53sINFOobjective_server_nodetype: 0 ×2 + 3.53sINFOobjective_server_nodename: "" ×2 + 3.53sINFOobjective_server_nodeinstance_id: "" ×2 + 3.53sINFOobjective_server_node ×2 + 3.64sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1793749143.19579220 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.71sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.81sINFOobjective_server_nodeFound path in 0 iterations (2.32e-07 s). ×2 + 3.81sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.82sINFOros2_control_node[2026-11-03 23:39:03.380] [info] Received new action goal ×2 + 3.82sINFOros2_control_node[2026-11-03 23:39:03.380] [info] Accepted new action goal ×2 + 5.73sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − skipped | Pick up Object | pick_up_cube.xml | 0.0s | 80 info |
+ 0.00sINFOros2_control_node[2026-11-03 23:38:59.557] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-11-03 23:38:59.557] [info] Accepted new action goal ×2 + 1.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.44sINFOros2_control_nodeMuJoCo sim: 0.04% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.65sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.66sINFOros2_control_node[2026-11-03 23:39:01.221] [info] Received new action goal ×2 + 1.67sINFOros2_control_node[2026-11-03 23:39:01.221] [info] Accepted new action goal ×2 + 2.96sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1793749142.51703954 seconds ×3 + 3.00sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.00sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.00sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.00sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.00sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.01sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.01sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.53sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.53sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.53sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.53sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.53sINFOobjective_server_nodecaller: ×2 + 3.53sINFOobjective_server_nodetype: 0 ×2 + 3.53sINFOobjective_server_nodename: "" ×2 + 3.53sINFOobjective_server_nodeinstance_id: "" ×2 + 3.53sINFOobjective_server_node ×2 + 3.64sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1793749143.19579220 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.71sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.81sINFOobjective_server_nodeFound path in 0 iterations (2.32e-07 s). ×2 + 3.81sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.82sINFOros2_control_node[2026-11-03 23:39:03.380] [info] Received new action goal ×2 + 3.82sINFOros2_control_node[2026-11-03 23:39:03.380] [info] Accepted new action goal ×2 + 5.73sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − skipped | Place at Pose | place_at_pose.xml | 0.0s | 80 info |
+ 0.00sINFOros2_control_node[2026-11-03 23:38:59.557] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-11-03 23:38:59.557] [info] Accepted new action goal ×2 + 1.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.44sINFOros2_control_nodeMuJoCo sim: 0.04% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.65sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.66sINFOros2_control_node[2026-11-03 23:39:01.221] [info] Received new action goal ×2 + 1.67sINFOros2_control_node[2026-11-03 23:39:01.221] [info] Accepted new action goal ×2 + 2.96sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1793749142.51703954 seconds ×3 + 3.00sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.00sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.00sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.00sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.00sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.01sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.01sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.53sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.53sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.53sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.53sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.53sINFOobjective_server_nodecaller: ×2 + 3.53sINFOobjective_server_nodetype: 0 ×2 + 3.53sINFOobjective_server_nodename: "" ×2 + 3.53sINFOobjective_server_nodeinstance_id: "" ×2 + 3.53sINFOobjective_server_node ×2 + 3.64sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1793749143.19579220 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.71sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.81sINFOobjective_server_nodeFound path in 0 iterations (2.32e-07 s). ×2 + 3.81sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.82sINFOros2_control_node[2026-11-03 23:39:03.380] [info] Received new action goal ×2 + 3.82sINFOros2_control_node[2026-11-03 23:39:03.380] [info] Accepted new action goal ×2 + 5.73sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − skipped | Place at Pose Vector | place_at_pose_vector.xml | 0.0s | 80 info |
+ 0.00sINFOros2_control_node[2026-11-03 23:38:59.557] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-11-03 23:38:59.557] [info] Accepted new action goal ×2 + 1.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.44sINFOros2_control_nodeMuJoCo sim: 0.04% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.65sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.66sINFOros2_control_node[2026-11-03 23:39:01.221] [info] Received new action goal ×2 + 1.67sINFOros2_control_node[2026-11-03 23:39:01.221] [info] Accepted new action goal ×2 + 2.96sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1793749142.51703954 seconds ×3 + 3.00sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.00sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.00sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.00sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.00sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.01sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.01sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.53sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.53sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.53sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.53sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.53sINFOobjective_server_nodecaller: ×2 + 3.53sINFOobjective_server_nodetype: 0 ×2 + 3.53sINFOobjective_server_nodename: "" ×2 + 3.53sINFOobjective_server_nodeinstance_id: "" ×2 + 3.53sINFOobjective_server_node ×2 + 3.64sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1793749143.19579220 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.71sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.81sINFOobjective_server_nodeFound path in 0 iterations (2.32e-07 s). ×2 + 3.81sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.82sINFOros2_control_node[2026-11-03 23:39:03.380] [info] Received new action goal ×2 + 3.82sINFOros2_control_node[2026-11-03 23:39:03.380] [info] Accepted new action goal ×2 + 5.73sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − skipped | Place at Pose with Approval | place_at_pose_with_approval.xml | 0.0s | 80 info |
+ 0.00sINFOros2_control_node[2026-11-03 23:38:59.557] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-11-03 23:38:59.557] [info] Accepted new action goal ×2 + 1.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.44sINFOros2_control_nodeMuJoCo sim: 0.04% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.65sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.66sINFOros2_control_node[2026-11-03 23:39:01.221] [info] Received new action goal ×2 + 1.67sINFOros2_control_node[2026-11-03 23:39:01.221] [info] Accepted new action goal ×2 + 2.96sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1793749142.51703954 seconds ×3 + 3.00sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.00sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.00sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.00sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.00sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.01sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.01sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.53sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.53sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.53sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.53sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.53sINFOobjective_server_nodecaller: ×2 + 3.53sINFOobjective_server_nodetype: 0 ×2 + 3.53sINFOobjective_server_nodename: "" ×2 + 3.53sINFOobjective_server_nodeinstance_id: "" ×2 + 3.53sINFOobjective_server_node ×2 + 3.64sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1793749143.19579220 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.71sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.81sINFOobjective_server_nodeFound path in 0 iterations (2.32e-07 s). ×2 + 3.81sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.82sINFOros2_control_node[2026-11-03 23:39:03.380] [info] Received new action goal ×2 + 3.82sINFOros2_control_node[2026-11-03 23:39:03.380] [info] Accepted new action goal ×2 + 5.73sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − skipped | Place Object | place_object.xml | 0.0s | 80 info |
+ 0.00sINFOros2_control_node[2026-11-03 23:38:59.557] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-11-03 23:38:59.557] [info] Accepted new action goal ×2 + 1.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.44sINFOros2_control_nodeMuJoCo sim: 0.04% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.65sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.66sINFOros2_control_node[2026-11-03 23:39:01.221] [info] Received new action goal ×2 + 1.67sINFOros2_control_node[2026-11-03 23:39:01.221] [info] Accepted new action goal ×2 + 2.96sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1793749142.51703954 seconds ×3 + 3.00sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.00sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.00sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.00sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.00sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.01sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.01sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.53sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.53sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.53sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.53sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.53sINFOobjective_server_nodecaller: ×2 + 3.53sINFOobjective_server_nodetype: 0 ×2 + 3.53sINFOobjective_server_nodename: "" ×2 + 3.53sINFOobjective_server_nodeinstance_id: "" ×2 + 3.53sINFOobjective_server_node ×2 + 3.64sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1793749143.19579220 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.71sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.81sINFOobjective_server_nodeFound path in 0 iterations (2.32e-07 s). ×2 + 3.81sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.82sINFOros2_control_node[2026-11-03 23:39:03.380] [info] Received new action goal ×2 + 3.82sINFOros2_control_node[2026-11-03 23:39:03.380] [info] Accepted new action goal ×2 + 5.73sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − skipped | Plan Move To Pose | plan_move_to_pose.xml | 0.0s | 3 errors · 61 info |
+ 0.00sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan and Save Trajectory` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1793749153.52625251 seconds ×3 + 0.04sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 0.04sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 0.04sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 0.04sINFOcontroller_managerSuccessfully switched controllers! ×2 + 0.04sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 0.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 0.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 0.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 0.05sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 0.05sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 0.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Playback Square Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.57sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 0.57sINFOobjective_server_nodeobjective_name: "Playback Square Trajectory" ×2 + 0.57sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 0.57sINFOobjective_server_nodeparameter_overrides: [] ×2 + 0.57sINFOobjective_server_nodecaller: ×2 + 0.57sINFOobjective_server_nodetype: 0 ×2 + 0.57sINFOobjective_server_nodename: "" ×2 + 0.57sINFOobjective_server_nodeinstance_id: "" ×2 + 0.57sINFOobjective_server_node ×2 + 0.63sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1793749154.15135837 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.83sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 0.92sINFOobjective_server_nodeFound path in 0 iterations (2.78e-07 s). ×2 + 0.93sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 0.94sINFOros2_control_node[2026-11-03 23:39:14.461] [info] Received new action goal ×2 + 0.94sINFOros2_control_node[2026-11-03 23:39:14.461] [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: 1793749164.06456089 seconds ×3 + 0.01sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 0.01sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 0.01sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×2 + 0.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 0.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 0.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 0.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 0.03sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 0.03sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 0.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Record and Replay Scanning Motion"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.54sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 0.54sINFOobjective_server_nodeobjective_name: "Record and Replay Scanning Motion" ×2 + 0.54sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 0.54sINFOobjective_server_nodeparameter_overrides: [] ×2 + 0.54sINFOobjective_server_nodecaller: ×2 + 0.54sINFOobjective_server_nodetype: 0 ×2 + 0.54sINFOobjective_server_nodename: "" ×2 + 0.54sINFOobjective_server_nodeinstance_id: "" ×2 + 0.54sINFOobjective_server_node ×2 + 0.63sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1793749164.69235754 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.64sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 0.74sINFOobjective_server_nodeFound path in 0 iterations (3.55e-07 s). ×2 + 0.74sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 0.75sINFOros2_control_node[2026-11-03 23:39:24.816] [info] Received new action goal ×2 + 0.75sINFOros2_control_node[2026-11-03 23:39:24.816] [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 · 188 info |
+ 0.00sINFOobjective_server_nodeObjective `Record Surface Coverage Demo` succeeded at time: 1793749219.72545481 seconds ×3 + 0.10sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.10sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.10sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 0.10sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.10sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 0.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.64sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 0.64sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 0.64sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 0.64sINFOobjective_server_nodeparameter_overrides: [] ×6 + 0.64sINFOobjective_server_nodecaller: ×6 + 0.64sINFOobjective_server_nodetype: 0 ×6 + 0.64sINFOobjective_server_nodename: "" ×6 + 0.64sINFOobjective_server_nodeinstance_id: "" ×6 + 0.64sINFOobjective_server_node ×6 + 0.87sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1793749220.59074426 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.89sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 0.89sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 0.91sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 0.91sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 0.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.886265 ms (missed cycles : 3). + 0.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.886265 ms (missed cycles : 3).[0m ×2 + 0.93sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1793749220.65091968 seconds ×3 + 1.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.47sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 1.53sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1793749221.25074363 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.55sINFOobjective_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 + 1.55sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1793749221.27251124 seconds ×3 + 2.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.19sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 2.25sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1793749221.98015809 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 2.38sINFOobjective_server_nodeFound path in 0 iterations (3.33e-07 s). ×2 + 2.38sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 2.39sINFOros2_control_node[2026-11-03 23:40:22.114] [info] Received new action goal ×2 + 2.39sINFOros2_control_node[2026-11-03 23:40:22.114] [info] Accepted new action goal ×2 | ||||
| − skipped | Register CAD Part | register_cad_part.xml | 0.0s | 3 warnings · 188 info |
+ 0.00sINFOobjective_server_nodeObjective `Record Surface Coverage Demo` succeeded at time: 1793749219.72545481 seconds ×3 + 0.10sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.10sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.10sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 0.10sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.10sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 0.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.64sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 0.64sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 0.64sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 0.64sINFOobjective_server_nodeparameter_overrides: [] ×6 + 0.64sINFOobjective_server_nodecaller: ×6 + 0.64sINFOobjective_server_nodetype: 0 ×6 + 0.64sINFOobjective_server_nodename: "" ×6 + 0.64sINFOobjective_server_nodeinstance_id: "" ×6 + 0.64sINFOobjective_server_node ×6 + 0.87sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1793749220.59074426 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.89sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 0.89sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 0.91sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 0.91sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 0.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.886265 ms (missed cycles : 3). + 0.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.886265 ms (missed cycles : 3).[0m ×2 + 0.93sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1793749220.65091968 seconds ×3 + 1.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.47sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 1.53sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1793749221.25074363 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.55sINFOobjective_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 + 1.55sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1793749221.27251124 seconds ×3 + 2.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.19sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 2.25sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1793749221.98015809 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 2.38sINFOobjective_server_nodeFound path in 0 iterations (3.33e-07 s). ×2 + 2.38sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 2.39sINFOros2_control_node[2026-11-03 23:40:22.114] [info] Received new action goal ×2 + 2.39sINFOros2_control_node[2026-11-03 23:40:22.114] [info] Accepted new action goal ×2 | ||||
| − skipped | Register CAD Part Subtree | register_cad_part_subtree.xml | 0.0s | 3 warnings · 188 info |
+ 0.00sINFOobjective_server_nodeObjective `Record Surface Coverage Demo` succeeded at time: 1793749219.72545481 seconds ×3 + 0.10sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.10sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.10sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 0.10sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.10sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 0.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.64sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 0.64sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 0.64sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 0.64sINFOobjective_server_nodeparameter_overrides: [] ×6 + 0.64sINFOobjective_server_nodecaller: ×6 + 0.64sINFOobjective_server_nodetype: 0 ×6 + 0.64sINFOobjective_server_nodename: "" ×6 + 0.64sINFOobjective_server_nodeinstance_id: "" ×6 + 0.64sINFOobjective_server_node ×6 + 0.87sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1793749220.59074426 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.89sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 0.89sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 0.91sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 0.91sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 0.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.886265 ms (missed cycles : 3). + 0.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.886265 ms (missed cycles : 3).[0m ×2 + 0.93sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1793749220.65091968 seconds ×3 + 1.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.47sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 1.53sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1793749221.25074363 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.55sINFOobjective_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 + 1.55sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1793749221.27251124 seconds ×3 + 2.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.19sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 2.25sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1793749221.98015809 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 2.38sINFOobjective_server_nodeFound path in 0 iterations (3.33e-07 s). ×2 + 2.38sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 2.39sINFOros2_control_node[2026-11-03 23:40:22.114] [info] Received new action goal ×2 + 2.39sINFOros2_control_node[2026-11-03 23:40:22.114] [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: 1793749219.72545481 seconds ×3 + 0.10sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.10sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.10sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 0.10sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.10sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 0.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.64sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 0.64sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 0.64sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 0.64sINFOobjective_server_nodeparameter_overrides: [] ×6 + 0.64sINFOobjective_server_nodecaller: ×6 + 0.64sINFOobjective_server_nodetype: 0 ×6 + 0.64sINFOobjective_server_nodename: "" ×6 + 0.64sINFOobjective_server_nodeinstance_id: "" ×6 + 0.64sINFOobjective_server_node ×6 + 0.87sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1793749220.59074426 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.89sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 0.89sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 0.91sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 0.91sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 0.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.886265 ms (missed cycles : 3). + 0.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.886265 ms (missed cycles : 3).[0m ×2 + 0.93sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1793749220.65091968 seconds ×3 + 1.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.47sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 1.53sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1793749221.25074363 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.55sINFOobjective_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 + 1.55sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1793749221.27251124 seconds ×3 + 2.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.19sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 2.25sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1793749221.98015809 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 2.38sINFOobjective_server_nodeFound path in 0 iterations (3.33e-07 s). ×2 + 2.38sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 2.39sINFOros2_control_node[2026-11-03 23:40:22.114] [info] Received new action goal ×2 + 2.39sINFOros2_control_node[2026-11-03 23:40:22.114] [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: 1793749219.72545481 seconds ×3 + 0.10sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.10sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.10sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 0.10sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.10sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 0.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.64sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 0.64sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 0.64sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 0.64sINFOobjective_server_nodeparameter_overrides: [] ×6 + 0.64sINFOobjective_server_nodecaller: ×6 + 0.64sINFOobjective_server_nodetype: 0 ×6 + 0.64sINFOobjective_server_nodename: "" ×6 + 0.64sINFOobjective_server_nodeinstance_id: "" ×6 + 0.64sINFOobjective_server_node ×6 + 0.87sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1793749220.59074426 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.89sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 0.89sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 0.91sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 0.91sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 0.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.886265 ms (missed cycles : 3). + 0.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.886265 ms (missed cycles : 3).[0m ×2 + 0.93sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1793749220.65091968 seconds ×3 + 1.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.47sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 1.53sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1793749221.25074363 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.55sINFOobjective_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 + 1.55sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1793749221.27251124 seconds ×3 + 2.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.19sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 2.25sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1793749221.98015809 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 2.38sINFOobjective_server_nodeFound path in 0 iterations (3.33e-07 s). ×2 + 2.38sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 2.39sINFOros2_control_node[2026-11-03 23:40:22.114] [info] Received new action goal ×2 + 2.39sINFOros2_control_node[2026-11-03 23:40:22.114] [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: 1793749219.72545481 seconds ×3 + 0.10sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.10sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.10sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 0.10sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.10sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 0.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.64sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 0.64sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 0.64sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 0.64sINFOobjective_server_nodeparameter_overrides: [] ×6 + 0.64sINFOobjective_server_nodecaller: ×6 + 0.64sINFOobjective_server_nodetype: 0 ×6 + 0.64sINFOobjective_server_nodename: "" ×6 + 0.64sINFOobjective_server_nodeinstance_id: "" ×6 + 0.64sINFOobjective_server_node ×6 + 0.87sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1793749220.59074426 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.89sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 0.89sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 0.91sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 0.91sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 0.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.886265 ms (missed cycles : 3). + 0.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.886265 ms (missed cycles : 3).[0m ×2 + 0.93sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1793749220.65091968 seconds ×3 + 1.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.47sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 1.53sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1793749221.25074363 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.55sINFOobjective_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 + 1.55sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1793749221.27251124 seconds ×3 + 2.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.19sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 2.25sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1793749221.98015809 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 2.38sINFOobjective_server_nodeFound path in 0 iterations (3.33e-07 s). ×2 + 2.38sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 2.39sINFOros2_control_node[2026-11-03 23:40:22.114] [info] Received new action goal ×2 + 2.39sINFOros2_control_node[2026-11-03 23:40:22.114] [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: 1793749219.72545481 seconds ×3 + 0.10sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.10sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.10sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 0.10sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.10sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 0.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.64sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 0.64sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 0.64sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 0.64sINFOobjective_server_nodeparameter_overrides: [] ×6 + 0.64sINFOobjective_server_nodecaller: ×6 + 0.64sINFOobjective_server_nodetype: 0 ×6 + 0.64sINFOobjective_server_nodename: "" ×6 + 0.64sINFOobjective_server_nodeinstance_id: "" ×6 + 0.64sINFOobjective_server_node ×6 + 0.87sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1793749220.59074426 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.89sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 0.89sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 0.91sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 0.91sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 0.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.886265 ms (missed cycles : 3). + 0.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.886265 ms (missed cycles : 3).[0m ×2 + 0.93sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1793749220.65091968 seconds ×3 + 1.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.47sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 1.53sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1793749221.25074363 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.55sINFOobjective_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 + 1.55sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1793749221.27251124 seconds ×3 + 2.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.19sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 2.25sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1793749221.98015809 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 2.38sINFOobjective_server_nodeFound path in 0 iterations (3.33e-07 s). ×2 + 2.38sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 2.39sINFOros2_control_node[2026-11-03 23:40:22.114] [info] Received new action goal ×2 + 2.39sINFOros2_control_node[2026-11-03 23:40:22.114] [info] Accepted new action goal ×2 | ||||
| − skipped | Stitch Multiple Point Clouds Together | stitch_multiple_point_clouds_together.xml | 0.0s | 3 errors · 11 warnings · 176 info |
+ 0.00sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.00sINFOros2_control_node[2026-11-03 23:40:32.020] [info] Got request to cancel active goal. ×2 + 0.00sINFOros2_control_node[2026-11-03 23:40:32.020] [info] Canceling active goal... ×2 + 0.00sERRORobjective_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: 1793749232.02495599 seconds ×3 + 0.01sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.01sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.01sINFOcontroller_managerRequested controller switch from non-realtime loop ×7 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×7 + 0.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×14 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×14 + 0.02sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.02sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 0.02sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 0.03sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 0.03sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 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: 1793749232.64048672 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.587424 ms (missed cycles : 3). + 0.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.587424 ms (missed cycles : 3).[0m ×2 + 1.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.397750 ms (missed cycles : 4). + 1.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.397750 ms (missed cycles : 4).[0m ×2 + 2.07sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1793749234.09065962 seconds ×3 + 2.62sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.62sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 2.68sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1793749234.70164514 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.68sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 2.68sINFOobjective_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 + 2.68sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 2.68sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1793749234.70394087 seconds ×3 + 2.76sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.05 s). The render path has stopped producing new frames for them.[0m ×2 + 3.23sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.23sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 3.29sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1793749235.30730247 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.30sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1793749235.31816721 seconds ×3 | ||||
| − skipped | Take Wrist Camera Image | take_picture_with_wrist_camera.xml | 0.0s | 3 errors · 11 warnings · 176 info |
+ 0.00sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.00sINFOros2_control_node[2026-11-03 23:40:32.020] [info] Got request to cancel active goal. ×2 + 0.00sINFOros2_control_node[2026-11-03 23:40:32.020] [info] Canceling active goal... ×2 + 0.00sERRORobjective_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: 1793749232.02495599 seconds ×3 + 0.01sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.01sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.01sINFOcontroller_managerRequested controller switch from non-realtime loop ×7 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×7 + 0.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×14 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×14 + 0.02sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.02sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 0.02sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 0.03sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 0.03sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 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: 1793749232.64048672 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.587424 ms (missed cycles : 3). + 0.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.587424 ms (missed cycles : 3).[0m ×2 + 1.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.397750 ms (missed cycles : 4). + 1.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.397750 ms (missed cycles : 4).[0m ×2 + 2.07sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1793749234.09065962 seconds ×3 + 2.62sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.62sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 2.68sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1793749234.70164514 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.68sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 2.68sINFOobjective_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 + 2.68sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 2.68sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1793749234.70394087 seconds ×3 + 2.76sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.05 s). The render path has stopped producing new frames for them.[0m ×2 + 3.23sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.23sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 3.29sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1793749235.30730247 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.30sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1793749235.31816721 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 · 336 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×12 + 0.00sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×12 + 0.00sINFOobjective_server_nodecaller: ×12 + 0.00sINFOobjective_server_nodetype: 0 ×12 + 0.00sINFOobjective_server_nodename: "" ×12 + 0.00sINFOobjective_server_nodeinstance_id: "" ×12 + 0.00sINFOobjective_server_node ×12 + 0.06sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793748899.66782188 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.06sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.06sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.97sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793748900.57799482 seconds ×3 + 1.00sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.00sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.00sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.00sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.00sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.00sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.01sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.01sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.38sINFOros2_control_nodeMuJoCo sim: 0.06% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.53sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.58sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793748901.19387889 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.64sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793748901.25405955 seconds ×3 + 2.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.25sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.30sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793748901.91679287 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.32sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793748901.93694973 seconds ×3 + 2.86sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.86sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793748902.53058195 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.07sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793748902.68142056 seconds ×3 + 3.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.70sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793748903.37923169 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.78sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.78sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.79sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.79sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.79sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750096 ms (missed cycles : 3). + 3.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750096 ms (missed cycles : 3).[0m ×2 + 3.82sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793748903.42940521 seconds ×3 + 4.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.43sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.54sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1793748904.15224528 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.55sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.55sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.55sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.55sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.55sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.56sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.56sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.56sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.56sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.66sINFOobjective_server_nodeFound path in 0 iterations (2.1193e-05 s). ×2 + 4.66sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.68sINFOros2_control_node[2026-11-03 23:35:04.289] [info] Received new action goal ×2 + 4.68sINFOros2_control_node[2026-11-03 23:35:04.289] [info] Accepted new action goal ×2 | ||||
| − skipped | — | segment_image_from_no_negative_text_prompt_subtree.xml | 0.0s | 3 warnings · 336 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×12 + 0.00sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×12 + 0.00sINFOobjective_server_nodecaller: ×12 + 0.00sINFOobjective_server_nodetype: 0 ×12 + 0.00sINFOobjective_server_nodename: "" ×12 + 0.00sINFOobjective_server_nodeinstance_id: "" ×12 + 0.00sINFOobjective_server_node ×12 + 0.06sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793748899.66782188 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.06sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.06sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.97sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793748900.57799482 seconds ×3 + 1.00sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.00sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.00sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.00sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.00sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.00sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.01sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.01sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.38sINFOros2_control_nodeMuJoCo sim: 0.06% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.53sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.58sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793748901.19387889 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.64sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793748901.25405955 seconds ×3 + 2.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.25sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.30sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793748901.91679287 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.32sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793748901.93694973 seconds ×3 + 2.86sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.86sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793748902.53058195 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.07sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793748902.68142056 seconds ×3 + 3.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.70sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793748903.37923169 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.78sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.78sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.79sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.79sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.79sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750096 ms (missed cycles : 3). + 3.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750096 ms (missed cycles : 3).[0m ×2 + 3.82sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793748903.42940521 seconds ×3 + 4.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.43sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.54sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1793748904.15224528 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.55sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.55sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.55sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.55sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.55sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.56sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.56sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.56sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.56sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.66sINFOobjective_server_nodeFound path in 0 iterations (2.1193e-05 s). ×2 + 4.66sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.68sINFOros2_control_node[2026-11-03 23:35:04.289] [info] Received new action goal ×2 + 4.68sINFOros2_control_node[2026-11-03 23:35:04.289] [info] Accepted new action goal ×2 | ||||
| − skipped | — | segment_image_from_point_subtree.xml | 0.0s | 3 warnings · 336 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×12 + 0.00sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×12 + 0.00sINFOobjective_server_nodecaller: ×12 + 0.00sINFOobjective_server_nodetype: 0 ×12 + 0.00sINFOobjective_server_nodename: "" ×12 + 0.00sINFOobjective_server_nodeinstance_id: "" ×12 + 0.00sINFOobjective_server_node ×12 + 0.06sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793748899.66782188 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.06sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.06sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.97sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793748900.57799482 seconds ×3 + 1.00sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.00sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.00sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.00sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.00sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.00sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.01sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.01sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.38sINFOros2_control_nodeMuJoCo sim: 0.06% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.53sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.58sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793748901.19387889 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.64sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793748901.25405955 seconds ×3 + 2.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.25sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.30sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793748901.91679287 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.32sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793748901.93694973 seconds ×3 + 2.86sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.86sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793748902.53058195 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.07sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793748902.68142056 seconds ×3 + 3.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.70sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793748903.37923169 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.78sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.78sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.79sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.79sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.79sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750096 ms (missed cycles : 3). + 3.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750096 ms (missed cycles : 3).[0m ×2 + 3.82sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793748903.42940521 seconds ×3 + 4.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.43sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.54sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1793748904.15224528 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.55sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.55sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.55sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.55sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.55sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.56sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.56sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.56sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.56sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.66sINFOobjective_server_nodeFound path in 0 iterations (2.1193e-05 s). ×2 + 4.66sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.68sINFOros2_control_node[2026-11-03 23:35:04.289] [info] Received new action goal ×2 + 4.68sINFOros2_control_node[2026-11-03 23:35:04.289] [info] Accepted new action goal ×2 | ||||
| − skipped | — | segment_image_from_text_prompt_subtree.xml | 0.0s | 3 warnings · 336 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×12 + 0.00sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×12 + 0.00sINFOobjective_server_nodecaller: ×12 + 0.00sINFOobjective_server_nodetype: 0 ×12 + 0.00sINFOobjective_server_nodename: "" ×12 + 0.00sINFOobjective_server_nodeinstance_id: "" ×12 + 0.00sINFOobjective_server_node ×12 + 0.06sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793748899.66782188 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.06sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.06sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.97sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793748900.57799482 seconds ×3 + 1.00sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.00sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.00sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.00sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.00sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.00sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.01sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.01sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.38sINFOros2_control_nodeMuJoCo sim: 0.06% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.53sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.58sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793748901.19387889 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.64sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793748901.25405955 seconds ×3 + 2.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.25sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.30sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793748901.91679287 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.32sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793748901.93694973 seconds ×3 + 2.86sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.86sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793748902.53058195 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.07sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793748902.68142056 seconds ×3 + 3.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.70sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793748903.37923169 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.78sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.78sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.79sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.79sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.79sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750096 ms (missed cycles : 3). + 3.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750096 ms (missed cycles : 3).[0m ×2 + 3.82sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793748903.42940521 seconds ×3 + 4.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.43sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.54sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1793748904.15224528 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.55sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.55sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.55sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.55sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.55sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.56sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.56sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.56sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.56sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.66sINFOobjective_server_nodeFound path in 0 iterations (2.1193e-05 s). ×2 + 4.66sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.68sINFOros2_control_node[2026-11-03 23:35:04.289] [info] Received new action goal ×2 + 4.68sINFOros2_control_node[2026-11-03 23:35:04.289] [info] Accepted new action goal ×2 | ||||
| − skipped | — | segment_point_cloud_from_clicked_point_subtree.xml | 0.0s | 3 warnings · 336 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×12 + 0.00sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×12 + 0.00sINFOobjective_server_nodecaller: ×12 + 0.00sINFOobjective_server_nodetype: 0 ×12 + 0.00sINFOobjective_server_nodename: "" ×12 + 0.00sINFOobjective_server_nodeinstance_id: "" ×12 + 0.00sINFOobjective_server_node ×12 + 0.06sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793748899.66782188 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.06sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.06sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.97sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793748900.57799482 seconds ×3 + 1.00sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.00sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.00sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.00sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.00sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.00sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.01sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.01sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.38sINFOros2_control_nodeMuJoCo sim: 0.06% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.53sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.58sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793748901.19387889 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.64sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793748901.25405955 seconds ×3 + 2.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.25sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.30sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793748901.91679287 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.32sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793748901.93694973 seconds ×3 + 2.86sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.86sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793748902.53058195 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.07sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793748902.68142056 seconds ×3 + 3.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.70sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793748903.37923169 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.78sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.78sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.79sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.79sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.79sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750096 ms (missed cycles : 3). + 3.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750096 ms (missed cycles : 3).[0m ×2 + 3.82sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793748903.42940521 seconds ×3 + 4.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.43sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.54sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1793748904.15224528 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.55sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.55sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.55sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.55sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.55sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.56sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.56sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.56sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.56sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.66sINFOobjective_server_nodeFound path in 0 iterations (2.1193e-05 s). ×2 + 4.66sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.68sINFOros2_control_node[2026-11-03 23:35:04.289] [info] Received new action goal ×2 + 4.68sINFOros2_control_node[2026-11-03 23:35:04.289] [info] Accepted new action goal ×2 | ||||
| − skipped | — | segment_point_cloud_from_text_prompt_subtree.xml | 0.0s | 3 warnings · 336 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×12 + 0.00sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×12 + 0.00sINFOobjective_server_nodecaller: ×12 + 0.00sINFOobjective_server_nodetype: 0 ×12 + 0.00sINFOobjective_server_nodename: "" ×12 + 0.00sINFOobjective_server_nodeinstance_id: "" ×12 + 0.00sINFOobjective_server_node ×12 + 0.06sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793748899.66782188 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.06sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.06sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.97sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793748900.57799482 seconds ×3 + 1.00sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.00sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.00sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.00sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.00sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.00sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.01sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.01sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.38sINFOros2_control_nodeMuJoCo sim: 0.06% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.53sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.58sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793748901.19387889 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.64sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793748901.25405955 seconds ×3 + 2.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.25sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.30sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793748901.91679287 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.32sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793748901.93694973 seconds ×3 + 2.86sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.86sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793748902.53058195 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.07sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793748902.68142056 seconds ×3 + 3.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.70sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793748903.37923169 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.78sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.78sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.79sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.79sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.79sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750096 ms (missed cycles : 3). + 3.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750096 ms (missed cycles : 3).[0m ×2 + 3.82sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793748903.42940521 seconds ×3 + 4.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.43sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.54sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1793748904.15224528 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.55sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.55sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.55sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.55sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.55sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.56sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.56sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.56sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.56sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.66sINFOobjective_server_nodeFound path in 0 iterations (2.1193e-05 s). ×2 + 4.66sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.68sINFOros2_control_node[2026-11-03 23:35:04.289] [info] Received new action goal ×2 + 4.68sINFOros2_control_node[2026-11-03 23:35:04.289] [info] Accepted new action goal ×2 | ||||
| − skipped | — | visualize_segmented_point_cloud.xml | 0.0s | 3 warnings · 336 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×12 + 0.00sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×12 + 0.00sINFOobjective_server_nodecaller: ×12 + 0.00sINFOobjective_server_nodetype: 0 ×12 + 0.00sINFOobjective_server_nodename: "" ×12 + 0.00sINFOobjective_server_nodeinstance_id: "" ×12 + 0.00sINFOobjective_server_node ×12 + 0.06sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793748899.66782188 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.06sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.06sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.97sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793748900.57799482 seconds ×3 + 1.00sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.00sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.00sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.00sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.00sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.00sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.01sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.01sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.38sINFOros2_control_nodeMuJoCo sim: 0.06% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.53sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.58sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793748901.19387889 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.64sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793748901.25405955 seconds ×3 + 2.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.25sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.30sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793748901.91679287 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.32sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793748901.93694973 seconds ×3 + 2.86sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.86sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793748902.53058195 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.07sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793748902.68142056 seconds ×3 + 3.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.70sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793748903.37923169 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.78sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.78sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.79sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.79sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.79sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750096 ms (missed cycles : 3). + 3.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750096 ms (missed cycles : 3).[0m ×2 + 3.82sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793748903.42940521 seconds ×3 + 4.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.43sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.54sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1793748904.15224528 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.55sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.55sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.55sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.55sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.55sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.56sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.56sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.56sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.56sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.66sINFOobjective_server_nodeFound path in 0 iterations (2.1193e-05 s). ×2 + 4.66sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.68sINFOros2_control_node[2026-11-03 23:35:04.289] [info] Received new action goal ×2 + 4.68sINFOros2_control_node[2026-11-03 23:35:04.289] [info] Accepted new action goal ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/core3 pass8 skip
| ✓ passed | — | clear_snapshot.xml | 12.5s | 35 warnings · 767 info |
+ 0.00sINFOlaunchAll log files can be found below /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/lab_sim/test_results/lab_sim/ros_logs/2026-11-03-23-34-46-602343-eba831a11e6f-8294 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 0.72sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 0.74sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 0.75sINFOcontroller_managerupdate rate is 600 Hz + 0.75sINFOcontroller_managerOverruns handling is : enabled + 0.75sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 0.75sWARNcontroller_managerCould not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling. + 0.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.137315 ms (missed cycles : 3). + 0.97sINFOros2_control_node-1process started with pid [8342] ×2 + 0.97sINFOmove_group-9process started with pid [8391] ×2 + 0.97sINFOparameter_manager_node-10process started with pid [8392] ×2 + 0.97sINFOwaypoint_manager_node-11process started with pid [8393] ×2 + 0.97sINFOmove_joint_resampler_node-12process started with pid [8394] ×2 + 0.97sINFOmove_end_effector_resampler_node-13process started with pid [8395] ×2 + 0.97sINFOobjective_server_node_main-14process started with pid [8396] ×2 + 0.97sINFOcomponent_container_mt-15process started with pid [8397] ×2 + 0.97sINFOcomponent_container_mt-16process started with pid [8398] ×2 + 0.97sINFOexecute_objective_bridge-17process started with pid [8399] ×2 + 0.97sINFOui_teleop_bridge-18process started with pid [8400] ×2 + 0.97sINFOweb_bridge-19process started with pid [8401] ×2 + 0.97sINFOtf_visualization_relay-20process started with pid [8473] ×2 + 0.97sINFOjoint_state_visualization_relay-21process started with pid [8474] ×2 + 0.97sINFOtf2_web_republisher_node-22process started with pid [8475] ×2 + 0.97sINFOvideo_server-23process started with pid [8476] ×2 + 0.97sINFOweb_bridge_auth_proxy-24process started with pid [8477] ×2 + 0.97sINFOweb_video_auth_proxy-25process started with pid [8478] ×2 + 0.98sINFOros2-2process started with pid [8343] ×2 + 0.98sINFOros2-3process started with pid [8344] ×2 + 0.98sINFOros2-4process started with pid [8345] ×2 + 0.98sINFOros2-5process started with pid [8346] ×2 + 0.98sINFOros2-6process started with pid [8347] ×2 + 0.98sINFOros2-7process started with pid [8348] ×2 + 0.98sINFOros2-8process started with pid [8349] ×2 + 0.99sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 0.99sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 0.99sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 0.99sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 0.99sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 0.99sWARNros2_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 + 0.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.137315 ms (missed cycles : 3).[0m ×2 + 1.03sINFOcontroller_managerReceived robot description from topic. + 1.03sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 1.04sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 1.05sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 1.05sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 1.05sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 1.05sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 1.16sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 1.22sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 1.29sINFOvideo_server2026/11/03 23:34:48 INF MediaMTX v1.20.1, linux, amd64 ×2 + 1.29sINFOvideo_server2026/11/03 23:34:48 INF configuration loaded from /tmp/moveit-webrtc-hpmmnsuz/mediamtx.yml ×2 + 1.29sINFOvideo_server2026/11/03 23:34:48 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 + 1.29sINFOvideo_server2026/11/03 23:34:48 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 + 1.66sINFOweb_video_auth_proxy2026-11-03 23:34:48,609 INFO moveit_studio_utils_py.tls: Generated MoveIt Pro self-signed TLS certificate at /github/home/.local/share/moveit_pro/tls/cert.pem ×2 + 1.66sINFOweb_video_auth_proxy2026-11-03 23:34:48,611 INFO auth_proxy: TLS auth proxy on 0.0.0.0:3202 -> 127.0.0.1:13202 ×2 + 1.67sINFOweb_bridge_auth_proxy2026-11-03 23:34:48,618 INFO auth_proxy: TLS auth proxy on 0.0.0.0:3201 -> 127.0.0.1:13201 ×2 + 1.70sINFOspawner_joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.71sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 1.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.259302 ms (missed cycles : 4). + 1.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.259302 ms (missed cycles : 4).[0m ×2 + 2.04sINFOmove_group[2026-11-03 23:34:48.988] [moveit_pro_license] [info] ×2 + 2.04sINFOmove_group************************************************* ×4 + 2.04sINFOmove_group* MoveIt Pro License ×2 + 2.04sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 2.20sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 2.20sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 2.20sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 2.20sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 2.21sINFOros2_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 + 2.21sINFOros2_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 + 2.30sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 2.36sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 2.37sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 2.37sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 2.37sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 2.38sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 2.38sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 2.38sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 2.44sINFOwaypoint_manager_node[2026-11-03 23:34:49.384] [moveit_pro_license] [info] ×2 + 2.44sINFOwaypoint_manager_node************************************************* ×4 + 2.44sINFOwaypoint_manager_node* MoveIt Pro License ×2 + 2.44sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 2.45sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 2.55sINFOmove_group ×4 + 2.55sINFOmove_group[92mYou can start planning now![0m ×2 + 2.56sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.135373 ms (missed cycles : 3). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.135373 ms (missed cycles : 3).[0m ×2 + 3.42sINFOobjective_server_node[2026-11-03 23:34:50.376] [moveit_pro_license] [info] ×2 + 3.42sINFOobjective_server_node************************************************* ×4 + 3.42sINFOobjective_server_node* MoveIt Pro License ×2 + 3.42sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 3.46sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 3.55sINFOobjective_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 + 3.55sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 3.57sINFOobjective_server_nodeLoading 7 behavior loader plugin(s): ×2 + 3.57sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 3.57sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 3.57sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 3.57sINFOobjective_server_nodelab_sim_behaviors::LabSimBehaviorsLoader ×2 + 3.57sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 3.57sINFOobjective_server_nodemoveit_pro::behaviors::MPCBehaviorsLoader ×2 + 3.57sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 3.67sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 3.86sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 4.01sWARNros2_control_nodeNo keyframe specified, applying first keyframe to set initial state.[0m ×2 + 4.01sINFOros2_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 + 4.01sWARNros2_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 + 4.01sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 4.01sINFOros2_control_nodebase: 0.0002 m, 3.1416 rad ×2 + 4.01sINFOros2_control_nodeshoulder_link: 0.0006 m, 3.1416 rad ×2 + 4.01sINFOros2_control_nodeupper_arm_link: 0.1380 m, 2.0944 rad ×2 + 4.02sINFOros2_control_nodeforearm_link: 0.0070 m, 2.0944 rad ×2 + 4.02sINFOros2_control_nodewrist_1_link: 0.1264 m, 1.5708 rad ×2 + 4.02sINFOros2_control_nodewrist_2_link: 0.1004 m, 0.0000 rad ×2 + 4.02sINFOros2_control_nodewrist_3_link: 0.1003 m, 1.5708 rad ×2 + 4.02sINFOros2_control_noderobotiq_85_base_link: 0.0073 m, 1.5708 rad ×2 + 4.02sINFOros2_control_noderobotiq_85_left_inner_knuckle_link: 0.0078 m, 1.5708 rad ×2 + 4.02sINFOros2_control_noderobotiq_85_left_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 4.02sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 4.02sINFOros2_control_noderobotiq_85_right_inner_knuckle_link: 0.0079 m, 1.5708 rad ×2 + 4.02sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 4.02sINFOros2_control_noderobotiq_85_right_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 4.02sINFOros2_control_noderobotiq_85_left_finger_link: 0.0076 m, 1.5708 rad ×2 + 4.02sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 4.02sINFOros2_control_noderobotiq_85_left_finger_tip_link: 0.1092 m, 2.0014 rad ×2 + 4.02sINFOros2_control_noderobotiq_85_right_finger_link: 0.0076 m, 1.5708 rad ×2 + 4.02sINFOros2_control_noderobotiq_85_right_finger_tip_link: 0.1096 m, 2.0014 rad[0m ×2 + 4.02sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 4.02sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 4.02sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 4.02sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 4.02sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 4.02sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 4.02sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 4.02sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 4.03sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 4.03sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 4.09sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/surface_coverage_accumulator' in container '/moveit_studio_point_cloud_container' ×2 + 4.18sINFOcomponent_container_mt[2026-11-03 23:34:51.131] [moveit_pro_license] [info] ×2 + 4.18sINFOcomponent_container_mt************************************************* ×4 + 4.18sINFOcomponent_container_mt* MoveIt Pro License ×2 + 4.18sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 4.21sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 4.21sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 4.21sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 4.21sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 4.22sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_rswieo_s --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_lhzx1dap --params-file /tmp/launch_params_aly6ajv_ + 4.22sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_rswieo_s --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_lhzx1dap --params-file /tmp/launch_params_aly6ajv_ [0m ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.751871 ms (missed cycles : 2). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.751871 ms (missed cycles : 2).[0m ×2 + 4.25sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 4.26sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 4.26sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 4.26sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 4.26sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 4.26sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 4.26sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 4.26sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 4.26sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 4.26sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 4.26sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 4.27sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 4.27sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 4.27sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 4.27sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 4.27sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.27sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.27sINFOcontroller_managerSuccessfully switched controllers! ×16 + 4.28sINFOros2_control_nodeSuccessfully switched controllers![0m ×32 + 4.28sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 4.28sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 4.43sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 4.52sINFOros2_control_nodeTrying EGL candidate default display for offscreen camera rendering.[0m ×2 + 4.52sINFOros2_control_nodeTrying EGL candidate platform device 0 (software) for offscreen camera rendering.[0m ×2 + 4.55sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 4.55sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 4.55sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 4.55sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 4.55sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_rswieo_s --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_lhzx1dap --params-file /tmp/launch_params_aly6ajv_ + 4.55sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_rswieo_s --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_lhzx1dap --params-file /tmp/launch_params_aly6ajv_ [0m ×2 + 4.57sINFOros2_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 + 4.57sINFOros2_control_nodeFell back to platform device 0 (software) after skipping: default display: eglInitialize failed: EGL_NOT_INITIALIZED (0x3001).[0m ×2 + 4.57sWARNros2_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 + 4.58sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 4.58sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 4.58sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 4.59sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 4.59sINFOros2-5process has finished cleanly [pid 8346] ×2 + 4.59sINFOforce_torque_sensor_broadcasterconfigure successful + 4.59sINFOros2_control_nodeconfigure successful[0m ×2 + 4.59sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 4.59sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 4.60sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 4.60sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 4.90sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 4.90sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 4.90sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 4.90sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 4.90sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_rswieo_s --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_lhzx1dap --params-file /tmp/launch_params_aly6ajv_ + 4.90sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_rswieo_s --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_lhzx1dap --params-file /tmp/launch_params_aly6ajv_ [0m ×2 + 4.94sINFOros2-2process has finished cleanly [pid 8343] ×2 + 4.94sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 4.94sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 4.94sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 4.94sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 4.94sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 4.94sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 4.95sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 4.95sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 4.96sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 4.96sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 5.24sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 5.24sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 5.24sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 5.24sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 5.27sINFOros2-4process has finished cleanly [pid 8345] ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.602999 ms (missed cycles : 2). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.602999 ms (missed cycles : 2).[0m ×2 + 5.37sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_rswieo_s --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_lhzx1dap --params-file /tmp/launch_params_aly6ajv_ + 5.37sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_rswieo_s --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_lhzx1dap --params-file /tmp/launch_params_aly6ajv_ [0m ×2 + 5.41sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 5.41sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 5.41sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 5.41sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 5.41sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 5.44sINFOros2_control_node[2026-11-03 23:34:52.389] [info] Controller state will be published at 20 Hz. ×2 + 5.44sINFOros2_control_node[2026-11-03 23:34:52.390] [info] JointVelocityController 'on_configure' succeeded. ×2 + 5.73sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 5.73sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 5.73sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 5.73sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 5.73sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_rswieo_s --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_lhzx1dap --params-file /tmp/launch_params_aly6ajv_ + 5.73sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_rswieo_s --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_lhzx1dap --params-file /tmp/launch_params_aly6ajv_ [0m ×2 + 5.74sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 5.74sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 5.76sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 5.77sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 5.77sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 5.77sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 5.77sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 5.77sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 5.77sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 5.77sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 5.77sINFOros2-8process has finished cleanly [pid 8349] ×2 + 5.78sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 5.78sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 6.08sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 6.08sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 6.09sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 6.09sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 6.12sINFOros2-3process has finished cleanly [pid 8344] ×2 + 6.18sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_rswieo_s --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_lhzx1dap --params-file /tmp/launch_params_aly6ajv_ + 6.18sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_rswieo_s --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_lhzx1dap --params-file /tmp/launch_params_aly6ajv_ [0m ×2 + 6.21sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 6.21sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 6.22sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 6.22sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 6.22sINFOros2_control_node[2026-11-03 23:34:53.168] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 6.22sINFOros2_control_node[2026-11-03 23:34:53.168] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 6.24sINFOros2_control_node[2026-11-03 23:34:53.194] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 6.24sINFOros2_control_node[2026-11-03 23:34:53.194] [info] Controller state will be published at 50 Hz. ×2 + 6.25sINFOros2_control_node[2026-11-03 23:34:53.202] [info] Registered `FollowJointTrajectory` action server. ×2 + 6.46sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 6.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729196 ms (missed cycles : 2). + 6.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729196 ms (missed cycles : 2).[0m ×2 + 6.58sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 6.58sINFOcontroller_managerLoading controller 'velocity_force_controller' + 6.58sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 6.58sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 6.59sINFOros2-6process has finished cleanly [pid 8347] ×2 + 6.66sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_rswieo_s --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_lhzx1dap --params-file /tmp/launch_params_aly6ajv_ + 6.66sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_rswieo_s --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_lhzx1dap --params-file /tmp/launch_params_aly6ajv_ [0m ×2 + 6.70sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 6.70sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 6.70sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 6.70sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 6.73sINFOros2_control_node[2026-11-03 23:34:53.681] [info] Controller state will be published at 10 Hz. ×2 + 6.73sINFOros2_control_node[2026-11-03 23:34:53.683] [info] VelocityForceController 'on_configure' succeeded. ×2 + 7.05sINFOros2-7process has finished cleanly [pid 8348] ×2 + 7.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.696685 ms (missed cycles : 2). + 7.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.696685 ms (missed cycles : 2).[0m ×2 + 9.41sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×2 + 11.39sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 11.43sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 11.43sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 11.43sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 11.43sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 11.43sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 11.43sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 11.46sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 11.46sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 11.46sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 11.46sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 11.46sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 11.46sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 12.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 12.05sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 12.05sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 12.05sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 12.05sINFOobjective_server_nodeparameter_overrides: [] ×10 + 12.05sINFOobjective_server_nodecaller: ×10 + 12.05sINFOobjective_server_nodetype: 0 ×10 + 12.05sINFOobjective_server_nodename: "" ×10 + 12.05sINFOobjective_server_nodeinstance_id: "" ×10 + 12.05sINFOobjective_server_node ×10 + 12.11sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793748899.06332374 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 12.12sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793748899.07355833 seconds ×3 + 12.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 12.66sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 12.71sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793748899.66782188 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 12.72sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 12.72sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 13.63sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793748900.57799482 seconds ×3 + 14.04sINFOros2_control_nodeMuJoCo sim: 0.06% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 14.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.19sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 14.24sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793748901.19387889 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.30sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793748901.25405955 seconds ×3 + 14.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.91sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 14.96sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793748901.91679287 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.98sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793748901.93694973 seconds ×3 + 15.52sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 15.52sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 15.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793748902.53058195 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793748902.68142056 seconds ×3 | ||||
| ✓ passed | — | vector_subtrees_example.xml | 0.7s | 3 warnings · 386 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.06sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793748899.06332374 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.07sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793748899.07355833 seconds ×3 + 0.08sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 0.08sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 0.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.08sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.09sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.09sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 0.09sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 0.09sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 0.09sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 0.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.61sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.67sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793748899.66782188 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 + 1.58sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793748900.57799482 seconds ×3 + 1.99sINFOros2_control_nodeMuJoCo sim: 0.06% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.14sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.19sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793748901.19387889 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.25sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793748901.25405955 seconds ×3 + 2.86sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.86sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.92sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793748901.91679287 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.94sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793748901.93694973 seconds ×3 + 3.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.47sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.53sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793748902.53058195 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.68sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793748902.68142056 seconds ×3 + 4.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.31sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.38sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793748903.37923169 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.39sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.39sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.41sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750096 ms (missed cycles : 3). + 4.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750096 ms (missed cycles : 3).[0m ×2 + 4.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793748903.42940521 seconds ×3 + 5.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.04sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 5.15sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1793748904.15224528 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.17sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 5.17sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.17sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.17sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.17sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.17sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.17sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.17sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.17sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.27sINFOobjective_server_nodeFound path in 0 iterations (2.1193e-05 s). ×2 + 5.27sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 5.29sINFOros2_control_node[2026-11-03 23:35:04.289] [info] Received new action goal ×2 + 5.29sINFOros2_control_node[2026-11-03 23:35:04.289] [info] Accepted new action goal ×2 | ||||
| ✓ passed | — | reset_planning_scene.xml | 0.7s | 3 warnings · 413 info |
+ 0.00sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.04sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 0.04sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.04sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.04sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.04sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 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: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 0.07sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 0.08sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 0.08sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 0.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.66sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.66sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.66sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.66sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.66sINFOobjective_server_nodecaller: ×14 + 0.66sINFOobjective_server_nodetype: 0 ×14 + 0.66sINFOobjective_server_nodename: "" ×14 + 0.66sINFOobjective_server_nodeinstance_id: "" ×14 + 0.66sINFOobjective_server_node ×14 + 0.72sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793748899.06332374 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.73sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793748899.07355833 seconds ×3 + 1.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.27sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.33sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793748899.66782188 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.33sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.33sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.24sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793748900.57799482 seconds ×3 + 2.65sINFOros2_control_nodeMuJoCo sim: 0.06% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.80sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.85sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793748901.19387889 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.91sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793748901.25405955 seconds ×3 + 3.52sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.52sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.58sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793748901.91679287 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.60sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793748901.93694973 seconds ×3 + 4.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.13sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793748902.53058195 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793748902.68142056 seconds ×3 + 4.97sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.97sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.04sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793748903.37923169 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.05sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 5.05sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 5.06sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.06sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.06sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750096 ms (missed cycles : 3). + 5.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750096 ms (missed cycles : 3).[0m ×2 + 5.09sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793748903.42940521 seconds ×3 + 5.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.70sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 5.81sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1793748904.15224528 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.82sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 5.82sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.82sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.83sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.83sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.83sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.83sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.83sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.83sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.93sINFOobjective_server_nodeFound path in 0 iterations (2.1193e-05 s). ×2 + 5.93sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 5.95sINFOros2_control_node[2026-11-03 23:35:04.289] [info] Received new action goal ×2 + 5.95sINFOros2_control_node[2026-11-03 23:35:04.289] [info] Accepted new action goal ×2 | ||||
| − skipped | — | wait_for_trajectory_approval_if_user_available.xml | 0.1s | 3 warnings · 336 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×12 + 0.00sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×12 + 0.00sINFOobjective_server_nodecaller: ×12 + 0.00sINFOobjective_server_nodetype: 0 ×12 + 0.00sINFOobjective_server_nodename: "" ×12 + 0.00sINFOobjective_server_nodeinstance_id: "" ×12 + 0.00sINFOobjective_server_node ×12 + 0.06sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793748899.66782188 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.06sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.06sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.97sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793748900.57799482 seconds ×3 + 1.00sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.00sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.00sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.00sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.00sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.00sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.01sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.01sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.38sINFOros2_control_nodeMuJoCo sim: 0.06% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.53sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.58sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793748901.19387889 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.64sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793748901.25405955 seconds ×3 + 2.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.25sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.30sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793748901.91679287 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.32sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793748901.93694973 seconds ×3 + 2.86sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.86sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793748902.53058195 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.07sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793748902.68142056 seconds ×3 + 3.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.70sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793748903.37923169 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.78sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.78sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.79sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.79sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.79sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750096 ms (missed cycles : 3). + 3.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750096 ms (missed cycles : 3).[0m ×2 + 3.82sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793748903.42940521 seconds ×3 + 4.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.43sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.54sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1793748904.15224528 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.55sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.55sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.55sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.55sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.55sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.56sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.56sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.56sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.56sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.66sINFOobjective_server_nodeFound path in 0 iterations (2.1193e-05 s). ×2 + 4.66sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.68sINFOros2_control_node[2026-11-03 23:35:04.289] [info] Received new action goal ×2 + 4.68sINFOros2_control_node[2026-11-03 23:35:04.289] [info] Accepted new action goal ×2 | ||||
| − skipped | — | addtovector.xml | 0.0s | 12 warnings · 189 info |
+ 0.00sINFOlaunchAll log files can be found below /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/lab_sim/test_results/lab_sim/ros_logs/2026-11-03-23-34-46-602343-eba831a11e6f-8294 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 0.72sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 0.74sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 0.75sINFOcontroller_managerupdate rate is 600 Hz + 0.75sINFOcontroller_managerOverruns handling is : enabled + 0.75sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 0.75sWARNcontroller_managerCould not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling. + 0.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.137315 ms (missed cycles : 3). + 0.97sINFOros2_control_node-1process started with pid [8342] ×2 + 0.97sINFOmove_group-9process started with pid [8391] ×2 + 0.97sINFOparameter_manager_node-10process started with pid [8392] ×2 + 0.97sINFOwaypoint_manager_node-11process started with pid [8393] ×2 + 0.97sINFOmove_joint_resampler_node-12process started with pid [8394] ×2 + 0.97sINFOmove_end_effector_resampler_node-13process started with pid [8395] ×2 + 0.97sINFOobjective_server_node_main-14process started with pid [8396] ×2 + 0.97sINFOcomponent_container_mt-15process started with pid [8397] ×2 + 0.97sINFOcomponent_container_mt-16process started with pid [8398] ×2 + 0.97sINFOexecute_objective_bridge-17process started with pid [8399] ×2 + 0.97sINFOui_teleop_bridge-18process started with pid [8400] ×2 + 0.97sINFOweb_bridge-19process started with pid [8401] ×2 + 0.97sINFOtf_visualization_relay-20process started with pid [8473] ×2 + 0.97sINFOjoint_state_visualization_relay-21process started with pid [8474] ×2 + 0.97sINFOtf2_web_republisher_node-22process started with pid [8475] ×2 + 0.97sINFOvideo_server-23process started with pid [8476] ×2 + 0.97sINFOweb_bridge_auth_proxy-24process started with pid [8477] ×2 + 0.97sINFOweb_video_auth_proxy-25process started with pid [8478] ×2 + 0.98sINFOros2-2process started with pid [8343] ×2 + 0.98sINFOros2-3process started with pid [8344] ×2 + 0.98sINFOros2-4process started with pid [8345] ×2 + 0.98sINFOros2-5process started with pid [8346] ×2 + 0.98sINFOros2-6process started with pid [8347] ×2 + 0.98sINFOros2-7process started with pid [8348] ×2 + 0.98sINFOros2-8process started with pid [8349] ×2 + 0.99sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 0.99sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 0.99sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 0.99sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 0.99sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 0.99sWARNros2_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 + 0.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.137315 ms (missed cycles : 3).[0m ×2 + 1.03sINFOcontroller_managerReceived robot description from topic. + 1.03sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 1.04sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 1.05sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 1.05sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 1.05sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 1.05sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 1.16sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 1.22sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 1.29sINFOvideo_server2026/11/03 23:34:48 INF MediaMTX v1.20.1, linux, amd64 ×2 + 1.29sINFOvideo_server2026/11/03 23:34:48 INF configuration loaded from /tmp/moveit-webrtc-hpmmnsuz/mediamtx.yml ×2 + 1.29sINFOvideo_server2026/11/03 23:34:48 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 + 1.29sINFOvideo_server2026/11/03 23:34:48 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 + 1.66sINFOweb_video_auth_proxy2026-11-03 23:34:48,609 INFO moveit_studio_utils_py.tls: Generated MoveIt Pro self-signed TLS certificate at /github/home/.local/share/moveit_pro/tls/cert.pem ×2 + 1.66sINFOweb_video_auth_proxy2026-11-03 23:34:48,611 INFO auth_proxy: TLS auth proxy on 0.0.0.0:3202 -> 127.0.0.1:13202 ×2 + 1.67sINFOweb_bridge_auth_proxy2026-11-03 23:34:48,618 INFO auth_proxy: TLS auth proxy on 0.0.0.0:3201 -> 127.0.0.1:13201 ×2 + 1.70sINFOspawner_joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.71sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 1.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.259302 ms (missed cycles : 4). + 1.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.259302 ms (missed cycles : 4).[0m ×2 + 2.04sINFOmove_group[2026-11-03 23:34:48.988] [moveit_pro_license] [info] ×2 + 2.04sINFOmove_group************************************************* ×4 + 2.04sINFOmove_group* MoveIt Pro License ×2 + 2.04sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 2.20sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 2.20sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 2.20sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 2.20sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 2.21sINFOros2_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 + 2.21sINFOros2_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 + 2.30sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 2.36sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 2.37sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 2.37sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 2.37sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 2.38sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 2.38sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 2.38sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 2.44sINFOwaypoint_manager_node[2026-11-03 23:34:49.384] [moveit_pro_license] [info] ×2 + 2.44sINFOwaypoint_manager_node************************************************* ×4 + 2.44sINFOwaypoint_manager_node* MoveIt Pro License ×2 + 2.44sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 2.45sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 2.55sINFOmove_group ×4 + 2.55sINFOmove_group[92mYou can start planning now![0m ×2 + 2.56sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.135373 ms (missed cycles : 3). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.135373 ms (missed cycles : 3).[0m ×2 + 3.42sINFOobjective_server_node[2026-11-03 23:34:50.376] [moveit_pro_license] [info] ×2 + 3.42sINFOobjective_server_node************************************************* ×4 + 3.42sINFOobjective_server_node* MoveIt Pro License ×2 + 3.42sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 3.46sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 3.55sINFOobjective_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 + 3.55sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 3.57sINFOobjective_server_nodeLoading 7 behavior loader plugin(s): ×2 + 3.57sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 3.57sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 3.57sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 3.57sINFOobjective_server_nodelab_sim_behaviors::LabSimBehaviorsLoader ×2 + 3.57sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 3.57sINFOobjective_server_nodemoveit_pro::behaviors::MPCBehaviorsLoader ×2 + 3.57sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 | ||||
| − skipped | — | convert_collisionobject_to_graspableobject.xml | 0.0s | 3 warnings · 413 info |
+ 0.00sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.04sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 0.04sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.04sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.04sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.04sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 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: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 0.07sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 0.08sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 0.08sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 0.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.66sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.66sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.66sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.66sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.66sINFOobjective_server_nodecaller: ×14 + 0.66sINFOobjective_server_nodetype: 0 ×14 + 0.66sINFOobjective_server_nodename: "" ×14 + 0.66sINFOobjective_server_nodeinstance_id: "" ×14 + 0.66sINFOobjective_server_node ×14 + 0.72sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793748899.06332374 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.73sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793748899.07355833 seconds ×3 + 1.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.27sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.33sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793748899.66782188 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.33sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.33sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.24sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793748900.57799482 seconds ×3 + 2.65sINFOros2_control_nodeMuJoCo sim: 0.06% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.80sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.85sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793748901.19387889 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.91sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793748901.25405955 seconds ×3 + 3.52sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.52sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.58sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793748901.91679287 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.60sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793748901.93694973 seconds ×3 + 4.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.13sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793748902.53058195 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793748902.68142056 seconds ×3 + 4.97sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.97sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.04sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793748903.37923169 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.05sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 5.05sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 5.06sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.06sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.06sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750096 ms (missed cycles : 3). + 5.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750096 ms (missed cycles : 3).[0m ×2 + 5.09sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793748903.42940521 seconds ×3 + 5.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.70sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 5.81sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1793748904.15224528 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.82sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 5.82sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.82sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.83sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.83sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.83sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.83sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.83sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.83sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.93sINFOobjective_server_nodeFound path in 0 iterations (2.1193e-05 s). ×2 + 5.93sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 5.95sINFOros2_control_node[2026-11-03 23:35:04.289] [info] Received new action goal ×2 + 5.95sINFOros2_control_node[2026-11-03 23:35:04.289] [info] Accepted new action goal ×2 | ||||
| − skipped | — | createvector.xml | 0.0s | 3 warnings · 413 info |
+ 0.00sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.04sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 0.04sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.04sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.04sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.04sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 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: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 0.07sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 0.08sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 0.08sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 0.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.66sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.66sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.66sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.66sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.66sINFOobjective_server_nodecaller: ×14 + 0.66sINFOobjective_server_nodetype: 0 ×14 + 0.66sINFOobjective_server_nodename: "" ×14 + 0.66sINFOobjective_server_nodeinstance_id: "" ×14 + 0.66sINFOobjective_server_node ×14 + 0.72sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793748899.06332374 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.73sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793748899.07355833 seconds ×3 + 1.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.27sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.33sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793748899.66782188 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.33sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.33sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.24sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793748900.57799482 seconds ×3 + 2.65sINFOros2_control_nodeMuJoCo sim: 0.06% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.80sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.85sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793748901.19387889 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.91sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793748901.25405955 seconds ×3 + 3.52sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.52sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.58sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793748901.91679287 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.60sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793748901.93694973 seconds ×3 + 4.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.13sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793748902.53058195 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793748902.68142056 seconds ×3 + 4.97sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.97sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.04sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793748903.37923169 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.05sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 5.05sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 5.06sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.06sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.06sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750096 ms (missed cycles : 3). + 5.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750096 ms (missed cycles : 3).[0m ×2 + 5.09sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793748903.42940521 seconds ×3 + 5.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.70sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 5.81sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1793748904.15224528 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.82sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 5.82sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.82sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.83sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.83sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.83sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.83sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.83sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.83sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.93sINFOobjective_server_nodeFound path in 0 iterations (2.1193e-05 s). ×2 + 5.93sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 5.95sINFOros2_control_node[2026-11-03 23:35:04.289] [info] Received new action goal ×2 + 5.95sINFOros2_control_node[2026-11-03 23:35:04.289] [info] Accepted new action goal ×2 | ||||
| − skipped | — | find_nearest_pose_in_path.xml | 0.0s | 3 warnings · 413 info |
+ 0.00sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.04sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 0.04sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.04sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.04sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.04sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 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: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 0.07sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 0.08sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 0.08sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 0.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.66sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.66sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.66sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.66sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.66sINFOobjective_server_nodecaller: ×14 + 0.66sINFOobjective_server_nodetype: 0 ×14 + 0.66sINFOobjective_server_nodename: "" ×14 + 0.66sINFOobjective_server_nodeinstance_id: "" ×14 + 0.66sINFOobjective_server_node ×14 + 0.72sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793748899.06332374 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.73sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793748899.07355833 seconds ×3 + 1.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.27sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.33sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793748899.66782188 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.33sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.33sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.24sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793748900.57799482 seconds ×3 + 2.65sINFOros2_control_nodeMuJoCo sim: 0.06% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.80sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.85sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793748901.19387889 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.91sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793748901.25405955 seconds ×3 + 3.52sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.52sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.58sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793748901.91679287 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.60sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793748901.93694973 seconds ×3 + 4.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.13sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793748902.53058195 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793748902.68142056 seconds ×3 + 4.97sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.97sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.04sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793748903.37923169 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.05sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 5.05sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 5.06sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.06sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.06sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750096 ms (missed cycles : 3). + 5.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750096 ms (missed cycles : 3).[0m ×2 + 5.09sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793748903.42940521 seconds ×3 + 5.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.70sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 5.81sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1793748904.15224528 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.82sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 5.82sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.82sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.83sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.83sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.83sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.83sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.83sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.83sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.93sINFOobjective_server_nodeFound path in 0 iterations (2.1193e-05 s). ×2 + 5.93sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 5.95sINFOros2_control_node[2026-11-03 23:35:04.289] [info] Received new action goal ×2 + 5.95sINFOros2_control_node[2026-11-03 23:35:04.289] [info] Accepted new action goal ×2 | ||||
| − skipped | — | request_teleoperation.xml | 0.0s | 3 warnings · 413 info |
+ 0.00sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.04sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 0.04sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.04sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.04sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.04sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 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: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 0.07sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 0.08sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 0.08sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 0.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.66sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.66sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.66sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.66sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.66sINFOobjective_server_nodecaller: ×14 + 0.66sINFOobjective_server_nodetype: 0 ×14 + 0.66sINFOobjective_server_nodename: "" ×14 + 0.66sINFOobjective_server_nodeinstance_id: "" ×14 + 0.66sINFOobjective_server_node ×14 + 0.72sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793748899.06332374 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.73sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793748899.07355833 seconds ×3 + 1.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.27sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.33sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793748899.66782188 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.33sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.33sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.24sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793748900.57799482 seconds ×3 + 2.65sINFOros2_control_nodeMuJoCo sim: 0.06% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.80sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.85sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793748901.19387889 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.91sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793748901.25405955 seconds ×3 + 3.52sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.52sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.58sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793748901.91679287 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.60sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793748901.93694973 seconds ×3 + 4.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.13sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793748902.53058195 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793748902.68142056 seconds ×3 + 4.97sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.97sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.04sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793748903.37923169 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.05sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 5.05sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 5.06sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.06sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.06sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750096 ms (missed cycles : 3). + 5.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750096 ms (missed cycles : 3).[0m ×2 + 5.09sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793748903.42940521 seconds ×3 + 5.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.70sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 5.81sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1793748904.15224528 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.82sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 5.82sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.82sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.83sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.83sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.83sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.83sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.83sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.83sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.93sINFOobjective_server_nodeFound path in 0 iterations (2.1193e-05 s). ×2 + 5.93sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 5.95sINFOros2_control_node[2026-11-03 23:35:04.289] [info] Received new action goal ×2 + 5.95sINFOros2_control_node[2026-11-03 23:35:04.289] [info] Accepted new action goal ×2 | ||||
| − skipped | — | teleoperate.xml | 0.0s | 3 warnings · 383 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.06sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793748899.06332374 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.07sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793748899.07355833 seconds ×3 + 0.08sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 0.08sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 0.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.08sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.09sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.09sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 0.09sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 0.09sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 0.09sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 0.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.61sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.67sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793748899.66782188 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 + 1.58sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793748900.57799482 seconds ×3 + 1.99sINFOros2_control_nodeMuJoCo sim: 0.06% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.14sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.19sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793748901.19387889 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.25sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793748901.25405955 seconds ×3 + 2.86sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.86sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.92sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793748901.91679287 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.94sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793748901.93694973 seconds ×3 + 3.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.47sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.53sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793748902.53058195 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.68sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793748902.68142056 seconds ×3 + 4.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.31sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.38sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793748903.37923169 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.39sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.39sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.41sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750096 ms (missed cycles : 3). + 4.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750096 ms (missed cycles : 3).[0m ×2 + 4.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793748903.42940521 seconds ×3 + 5.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.04sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 5.15sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1793748904.15224528 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.17sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 5.17sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.17sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.17sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.17sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.17sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.17sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.17sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.17sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.27sINFOobjective_server_nodeFound path in 0 iterations (2.1193e-05 s). ×2 + 5.27sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 5.29sINFOros2_control_node[2026-11-03 23:35:04.289] [info] Received new action goal ×2 + 5.29sINFOros2_control_node[2026-11-03 23:35:04.289] [info] Accepted new action goal ×2 | ||||
| − skipped | — | wait_for_joint_trajectory_approval.xml | 0.0s | 3 warnings · 336 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×12 + 0.00sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×12 + 0.00sINFOobjective_server_nodecaller: ×12 + 0.00sINFOobjective_server_nodetype: 0 ×12 + 0.00sINFOobjective_server_nodename: "" ×12 + 0.00sINFOobjective_server_nodeinstance_id: "" ×12 + 0.00sINFOobjective_server_node ×12 + 0.06sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793748899.66782188 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.06sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.06sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.97sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793748900.57799482 seconds ×3 + 1.00sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.00sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.00sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.00sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.00sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.00sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.01sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.01sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.38sINFOros2_control_nodeMuJoCo sim: 0.06% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.53sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.58sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793748901.19387889 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.64sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793748901.25405955 seconds ×3 + 2.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.25sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.30sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793748901.91679287 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.32sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793748901.93694973 seconds ×3 + 2.86sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.86sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793748902.53058195 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.07sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793748902.68142056 seconds ×3 + 3.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.70sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793748903.37923169 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.78sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.78sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.79sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.79sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.79sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750096 ms (missed cycles : 3). + 3.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750096 ms (missed cycles : 3).[0m ×2 + 3.82sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793748903.42940521 seconds ×3 + 4.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.43sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.54sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1793748904.15224528 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.55sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.55sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.55sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.55sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.55sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.56sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.56sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.56sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.56sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.66sINFOobjective_server_nodeFound path in 0 iterations (2.1193e-05 s). ×2 + 4.66sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.68sINFOros2_control_node[2026-11-03 23:35:04.289] [info] Received new action goal ×2 + 4.68sINFOros2_control_node[2026-11-03 23:35:04.289] [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 · 336 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×12 + 0.00sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×12 + 0.00sINFOobjective_server_nodecaller: ×12 + 0.00sINFOobjective_server_nodetype: 0 ×12 + 0.00sINFOobjective_server_nodename: "" ×12 + 0.00sINFOobjective_server_nodeinstance_id: "" ×12 + 0.00sINFOobjective_server_node ×12 + 0.06sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793748899.66782188 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.06sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.06sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.97sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793748900.57799482 seconds ×3 + 1.00sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.00sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.00sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.00sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.00sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.00sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.01sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.01sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.38sINFOros2_control_nodeMuJoCo sim: 0.06% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.53sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.58sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793748901.19387889 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.64sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793748901.25405955 seconds ×3 + 2.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.25sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.30sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793748901.91679287 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.32sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793748901.93694973 seconds ×3 + 2.86sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.86sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793748902.53058195 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.07sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793748902.68142056 seconds ×3 + 3.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.70sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793748903.37923169 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.78sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.78sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.79sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.79sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.79sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750096 ms (missed cycles : 3). + 3.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750096 ms (missed cycles : 3).[0m ×2 + 3.82sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793748903.42940521 seconds ×3 + 4.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.43sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.54sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1793748904.15224528 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.55sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.55sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.55sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.55sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.55sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.56sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.56sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.56sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.56sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.66sINFOobjective_server_nodeFound path in 0 iterations (2.1193e-05 s). ×2 + 4.66sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.68sINFOros2_control_node[2026-11-03 23:35:04.289] [info] Received new action goal ×2 + 4.68sINFOros2_control_node[2026-11-03 23:35:04.289] [info] Accepted new action goal ×2 | ||||
| − skipped | — | execute_mtc_solution_jtc.xml | 0.0s | 3 warnings · 336 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×12 + 0.00sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×12 + 0.00sINFOobjective_server_nodecaller: ×12 + 0.00sINFOobjective_server_nodetype: 0 ×12 + 0.00sINFOobjective_server_nodename: "" ×12 + 0.00sINFOobjective_server_nodeinstance_id: "" ×12 + 0.00sINFOobjective_server_node ×12 + 0.06sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793748899.66782188 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.06sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.06sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.97sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793748900.57799482 seconds ×3 + 1.00sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.00sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.00sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.00sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.00sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.00sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.01sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.01sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.38sINFOros2_control_nodeMuJoCo sim: 0.06% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.53sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.58sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793748901.19387889 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.64sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793748901.25405955 seconds ×3 + 2.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.25sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.30sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793748901.91679287 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.32sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793748901.93694973 seconds ×3 + 2.86sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.86sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793748902.53058195 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.07sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793748902.68142056 seconds ×3 + 3.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.70sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793748903.37923169 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.78sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.78sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.79sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.79sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.79sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750096 ms (missed cycles : 3). + 3.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750096 ms (missed cycles : 3).[0m ×2 + 3.82sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793748903.42940521 seconds ×3 + 4.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.43sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.54sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1793748904.15224528 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.55sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.55sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.55sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.55sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.55sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.56sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.56sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.56sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.56sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.66sINFOobjective_server_nodeFound path in 0 iterations (2.1193e-05 s). ×2 + 4.66sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.68sINFOros2_control_node[2026-11-03 23:35:04.289] [info] Received new action goal ×2 + 4.68sINFOros2_control_node[2026-11-03 23:35:04.289] [info] Accepted new action goal ×2 | ||||
| − skipped | — | interpolate_to_joint_state.xml | 0.0s | 3 warnings · 336 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×12 + 0.00sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×12 + 0.00sINFOobjective_server_nodecaller: ×12 + 0.00sINFOobjective_server_nodetype: 0 ×12 + 0.00sINFOobjective_server_nodename: "" ×12 + 0.00sINFOobjective_server_nodeinstance_id: "" ×12 + 0.00sINFOobjective_server_node ×12 + 0.06sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793748899.66782188 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.06sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.06sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.97sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793748900.57799482 seconds ×3 + 1.00sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.00sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.00sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.00sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.00sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.00sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.01sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.01sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.38sINFOros2_control_nodeMuJoCo sim: 0.06% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.53sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.58sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793748901.19387889 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.64sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793748901.25405955 seconds ×3 + 2.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.25sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.30sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793748901.91679287 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.32sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793748901.93694973 seconds ×3 + 2.86sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.86sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793748902.53058195 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.07sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793748902.68142056 seconds ×3 + 3.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.70sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793748903.37923169 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.78sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.78sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.79sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.79sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.79sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750096 ms (missed cycles : 3). + 3.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750096 ms (missed cycles : 3).[0m ×2 + 3.82sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793748903.42940521 seconds ×3 + 4.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.43sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.54sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1793748904.15224528 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.55sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.55sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.55sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.55sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.55sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.56sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.56sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.56sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.56sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.66sINFOobjective_server_nodeFound path in 0 iterations (2.1193e-05 s). ×2 + 4.66sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.68sINFOros2_control_node[2026-11-03 23:35:04.289] [info] Received new action goal ×2 + 4.68sINFOros2_control_node[2026-11-03 23:35:04.289] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_cartesian_pose.xml | 0.0s | 3 warnings · 336 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×12 + 0.00sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×12 + 0.00sINFOobjective_server_nodecaller: ×12 + 0.00sINFOobjective_server_nodetype: 0 ×12 + 0.00sINFOobjective_server_nodename: "" ×12 + 0.00sINFOobjective_server_nodeinstance_id: "" ×12 + 0.00sINFOobjective_server_node ×12 + 0.06sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793748899.66782188 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.06sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.06sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.97sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793748900.57799482 seconds ×3 + 1.00sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.00sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.00sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.00sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.00sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.00sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.01sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.01sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.38sINFOros2_control_nodeMuJoCo sim: 0.06% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.53sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.58sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793748901.19387889 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.64sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793748901.25405955 seconds ×3 + 2.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.25sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.30sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793748901.91679287 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.32sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793748901.93694973 seconds ×3 + 2.86sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.86sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793748902.53058195 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.07sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793748902.68142056 seconds ×3 + 3.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.70sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793748903.37923169 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.78sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.78sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.79sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.79sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.79sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750096 ms (missed cycles : 3). + 3.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750096 ms (missed cycles : 3).[0m ×2 + 3.82sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793748903.42940521 seconds ×3 + 4.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.43sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.54sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1793748904.15224528 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.55sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.55sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.55sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.55sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.55sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.56sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.56sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.56sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.56sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.66sINFOobjective_server_nodeFound path in 0 iterations (2.1193e-05 s). ×2 + 4.66sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.68sINFOros2_control_node[2026-11-03 23:35:04.289] [info] Received new action goal ×2 + 4.68sINFOros2_control_node[2026-11-03 23:35:04.289] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_cartesian_pose_jtc.xml | 0.0s | 3 warnings · 336 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×12 + 0.00sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×12 + 0.00sINFOobjective_server_nodecaller: ×12 + 0.00sINFOobjective_server_nodetype: 0 ×12 + 0.00sINFOobjective_server_nodename: "" ×12 + 0.00sINFOobjective_server_nodeinstance_id: "" ×12 + 0.00sINFOobjective_server_node ×12 + 0.06sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793748899.66782188 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.06sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.06sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.97sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793748900.57799482 seconds ×3 + 1.00sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.00sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.00sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.00sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.00sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.00sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.01sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.01sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.38sINFOros2_control_nodeMuJoCo sim: 0.06% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.53sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.58sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793748901.19387889 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.64sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793748901.25405955 seconds ×3 + 2.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.25sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.30sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793748901.91679287 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.32sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793748901.93694973 seconds ×3 + 2.86sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.86sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793748902.53058195 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.07sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793748902.68142056 seconds ×3 + 3.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.70sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793748903.37923169 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.78sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.78sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.79sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.79sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.79sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750096 ms (missed cycles : 3). + 3.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750096 ms (missed cycles : 3).[0m ×2 + 3.82sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793748903.42940521 seconds ×3 + 4.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.43sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.54sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1793748904.15224528 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.55sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.55sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.55sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.55sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.55sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.56sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.56sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.56sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.56sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.66sINFOobjective_server_nodeFound path in 0 iterations (2.1193e-05 s). ×2 + 4.66sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.68sINFOros2_control_node[2026-11-03 23:35:04.289] [info] Received new action goal ×2 + 4.68sINFOros2_control_node[2026-11-03 23:35:04.289] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_joint_state.xml | 0.0s | 3 warnings · 336 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×12 + 0.00sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×12 + 0.00sINFOobjective_server_nodecaller: ×12 + 0.00sINFOobjective_server_nodetype: 0 ×12 + 0.00sINFOobjective_server_nodename: "" ×12 + 0.00sINFOobjective_server_nodeinstance_id: "" ×12 + 0.00sINFOobjective_server_node ×12 + 0.06sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793748899.66782188 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.06sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.06sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.97sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793748900.57799482 seconds ×3 + 1.00sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.00sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.00sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.00sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.00sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.00sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.01sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.01sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.38sINFOros2_control_nodeMuJoCo sim: 0.06% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.53sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.58sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793748901.19387889 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.64sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793748901.25405955 seconds ×3 + 2.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.25sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.30sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793748901.91679287 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.32sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793748901.93694973 seconds ×3 + 2.86sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.86sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793748902.53058195 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.07sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793748902.68142056 seconds ×3 + 3.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.70sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793748903.37923169 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.78sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.78sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.79sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.79sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.79sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750096 ms (missed cycles : 3). + 3.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750096 ms (missed cycles : 3).[0m ×2 + 3.82sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793748903.42940521 seconds ×3 + 4.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.43sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.54sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1793748904.15224528 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.55sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.55sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.55sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.55sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.55sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.56sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.56sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.56sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.56sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.66sINFOobjective_server_nodeFound path in 0 iterations (2.1193e-05 s). ×2 + 4.66sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.68sINFOros2_control_node[2026-11-03 23:35:04.289] [info] Received new action goal ×2 + 4.68sINFOros2_control_node[2026-11-03 23:35:04.289] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_named_waypoint.xml | 0.0s | 3 warnings · 336 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×12 + 0.00sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×12 + 0.00sINFOobjective_server_nodecaller: ×12 + 0.00sINFOobjective_server_nodetype: 0 ×12 + 0.00sINFOobjective_server_nodename: "" ×12 + 0.00sINFOobjective_server_nodeinstance_id: "" ×12 + 0.00sINFOobjective_server_node ×12 + 0.06sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793748899.66782188 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.06sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.06sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.97sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793748900.57799482 seconds ×3 + 1.00sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.00sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.00sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.00sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.00sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.00sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.01sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.01sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.38sINFOros2_control_nodeMuJoCo sim: 0.06% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.53sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.58sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793748901.19387889 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.64sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793748901.25405955 seconds ×3 + 2.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.25sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.30sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793748901.91679287 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.32sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793748901.93694973 seconds ×3 + 2.86sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.86sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793748902.53058195 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.07sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793748902.68142056 seconds ×3 + 3.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.70sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793748903.37923169 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.78sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.78sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.79sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.79sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.79sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750096 ms (missed cycles : 3). + 3.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750096 ms (missed cycles : 3).[0m ×2 + 3.82sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793748903.42940521 seconds ×3 + 4.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.43sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.54sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1793748904.15224528 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.55sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.55sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.55sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.55sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.55sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.56sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.56sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.56sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.56sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.66sINFOobjective_server_nodeFound path in 0 iterations (2.1193e-05 s). ×2 + 4.66sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.68sINFOros2_control_node[2026-11-03 23:35:04.289] [info] Received new action goal ×2 + 4.68sINFOros2_control_node[2026-11-03 23:35:04.289] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_named_waypoint_jtc.xml | 0.0s | 3 warnings · 336 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×12 + 0.00sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×12 + 0.00sINFOobjective_server_nodecaller: ×12 + 0.00sINFOobjective_server_nodetype: 0 ×12 + 0.00sINFOobjective_server_nodename: "" ×12 + 0.00sINFOobjective_server_nodeinstance_id: "" ×12 + 0.00sINFOobjective_server_node ×12 + 0.06sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793748899.66782188 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.06sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.06sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.97sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793748900.57799482 seconds ×3 + 1.00sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.00sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.00sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.00sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.00sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.00sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.01sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.01sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.38sINFOros2_control_nodeMuJoCo sim: 0.06% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.53sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.58sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793748901.19387889 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.64sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793748901.25405955 seconds ×3 + 2.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.25sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.30sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793748901.91679287 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.32sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793748901.93694973 seconds ×3 + 2.86sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.86sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793748902.53058195 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.07sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793748902.68142056 seconds ×3 + 3.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.70sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793748903.37923169 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.78sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.78sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.79sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.79sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.79sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750096 ms (missed cycles : 3). + 3.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750096 ms (missed cycles : 3).[0m ×2 + 3.82sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793748903.42940521 seconds ×3 + 4.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.43sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.54sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1793748904.15224528 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.55sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.55sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.55sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.55sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.55sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.56sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.56sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.56sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.56sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.66sINFOobjective_server_nodeFound path in 0 iterations (2.1193e-05 s). ×2 + 4.66sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.68sINFOros2_control_node[2026-11-03 23:35:04.289] [info] Received new action goal ×2 + 4.68sINFOros2_control_node[2026-11-03 23:35:04.289] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_pose.xml | 0.0s | 3 warnings · 336 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×12 + 0.00sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×12 + 0.00sINFOobjective_server_nodecaller: ×12 + 0.00sINFOobjective_server_nodetype: 0 ×12 + 0.00sINFOobjective_server_nodename: "" ×12 + 0.00sINFOobjective_server_nodeinstance_id: "" ×12 + 0.00sINFOobjective_server_node ×12 + 0.06sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793748899.66782188 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.06sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.06sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.97sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793748900.57799482 seconds ×3 + 1.00sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.00sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.00sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.00sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.00sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.00sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.01sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.01sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.38sINFOros2_control_nodeMuJoCo sim: 0.06% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.53sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.58sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793748901.19387889 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.64sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793748901.25405955 seconds ×3 + 2.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.25sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.30sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793748901.91679287 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.32sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793748901.93694973 seconds ×3 + 2.86sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.86sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793748902.53058195 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.07sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793748902.68142056 seconds ×3 + 3.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.70sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793748903.37923169 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.78sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.78sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.79sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.79sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.79sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750096 ms (missed cycles : 3). + 3.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750096 ms (missed cycles : 3).[0m ×2 + 3.82sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793748903.42940521 seconds ×3 + 4.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.43sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.54sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1793748904.15224528 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.55sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.55sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.55sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.55sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.55sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.56sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.56sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.56sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.56sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.66sINFOobjective_server_nodeFound path in 0 iterations (2.1193e-05 s). ×2 + 4.66sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.68sINFOros2_control_node[2026-11-03 23:35:04.289] [info] Received new action goal ×2 + 4.68sINFOros2_control_node[2026-11-03 23:35:04.289] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_pose_jtc.xml | 0.0s | 3 warnings · 336 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×12 + 0.00sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×12 + 0.00sINFOobjective_server_nodecaller: ×12 + 0.00sINFOobjective_server_nodetype: 0 ×12 + 0.00sINFOobjective_server_nodename: "" ×12 + 0.00sINFOobjective_server_nodeinstance_id: "" ×12 + 0.00sINFOobjective_server_node ×12 + 0.06sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793748899.66782188 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.06sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.06sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.97sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793748900.57799482 seconds ×3 + 1.00sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.00sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.00sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.00sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.00sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.00sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.01sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.01sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.38sINFOros2_control_nodeMuJoCo sim: 0.06% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.53sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.58sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793748901.19387889 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.64sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793748901.25405955 seconds ×3 + 2.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.25sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.30sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793748901.91679287 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.32sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793748901.93694973 seconds ×3 + 2.86sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.86sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793748902.53058195 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.07sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793748902.68142056 seconds ×3 + 3.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.70sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793748903.37923169 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.78sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.78sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.79sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.79sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.79sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750096 ms (missed cycles : 3). + 3.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750096 ms (missed cycles : 3).[0m ×2 + 3.82sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793748903.42940521 seconds ×3 + 4.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.43sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.54sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1793748904.15224528 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.55sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.55sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.55sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.55sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.55sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.56sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.56sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.56sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.56sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.66sINFOobjective_server_nodeFound path in 0 iterations (2.1193e-05 s). ×2 + 4.66sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.68sINFOros2_control_node[2026-11-03 23:35:04.289] [info] Received new action goal ×2 + 4.68sINFOros2_control_node[2026-11-03 23:35:04.289] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_waypoint.xml | 0.0s | 3 warnings · 336 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×12 + 0.00sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×12 + 0.00sINFOobjective_server_nodecaller: ×12 + 0.00sINFOobjective_server_nodetype: 0 ×12 + 0.00sINFOobjective_server_nodename: "" ×12 + 0.00sINFOobjective_server_nodeinstance_id: "" ×12 + 0.00sINFOobjective_server_node ×12 + 0.06sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793748899.66782188 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.06sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.06sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.97sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793748900.57799482 seconds ×3 + 1.00sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.00sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.00sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.00sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.00sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.00sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.01sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.01sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.38sINFOros2_control_nodeMuJoCo sim: 0.06% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.53sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.58sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793748901.19387889 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.64sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793748901.25405955 seconds ×3 + 2.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.25sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.30sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793748901.91679287 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.32sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793748901.93694973 seconds ×3 + 2.86sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.86sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793748902.53058195 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.07sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793748902.68142056 seconds ×3 + 3.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.70sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793748903.37923169 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.78sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.78sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.79sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.79sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.79sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750096 ms (missed cycles : 3). + 3.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750096 ms (missed cycles : 3).[0m ×2 + 3.82sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793748903.42940521 seconds ×3 + 4.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.43sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.54sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1793748904.15224528 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.55sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.55sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.55sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.55sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.55sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.56sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.56sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.56sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.56sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.66sINFOobjective_server_nodeFound path in 0 iterations (2.1193e-05 s). ×2 + 4.66sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.68sINFOros2_control_node[2026-11-03 23:35:04.289] [info] Received new action goal ×2 + 4.68sINFOros2_control_node[2026-11-03 23:35:04.289] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_waypoint_jtc.xml | 0.0s | 3 warnings · 336 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×12 + 0.00sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×12 + 0.00sINFOobjective_server_nodecaller: ×12 + 0.00sINFOobjective_server_nodetype: 0 ×12 + 0.00sINFOobjective_server_nodename: "" ×12 + 0.00sINFOobjective_server_nodeinstance_id: "" ×12 + 0.00sINFOobjective_server_node ×12 + 0.06sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793748899.66782188 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.06sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.06sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.97sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793748900.57799482 seconds ×3 + 1.00sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.00sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.00sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.00sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.00sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.00sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.01sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.01sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.38sINFOros2_control_nodeMuJoCo sim: 0.06% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.53sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.58sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793748901.19387889 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.64sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793748901.25405955 seconds ×3 + 2.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.25sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.30sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793748901.91679287 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.32sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793748901.93694973 seconds ×3 + 2.86sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.86sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793748902.53058195 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.07sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793748902.68142056 seconds ×3 + 3.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.70sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793748903.37923169 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.78sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.78sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.79sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.79sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.79sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750096 ms (missed cycles : 3). + 3.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750096 ms (missed cycles : 3).[0m ×2 + 3.82sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793748903.42940521 seconds ×3 + 4.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.43sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.54sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1793748904.15224528 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.55sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.55sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.55sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.55sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.55sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.56sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.56sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.56sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.56sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.66sINFOobjective_server_nodeFound path in 0 iterations (2.1193e-05 s). ×2 + 4.66sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.68sINFOros2_control_node[2026-11-03 23:35:04.289] [info] Received new action goal ×2 + 4.68sINFOros2_control_node[2026-11-03 23:35:04.289] [info] Accepted new action goal ×2 | ||||
| − skipped | — | plan_path_with_mtc.xml | 0.0s | 3 warnings · 336 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×12 + 0.00sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×12 + 0.00sINFOobjective_server_nodecaller: ×12 + 0.00sINFOobjective_server_nodetype: 0 ×12 + 0.00sINFOobjective_server_nodename: "" ×12 + 0.00sINFOobjective_server_nodeinstance_id: "" ×12 + 0.00sINFOobjective_server_node ×12 + 0.06sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793748899.66782188 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.06sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.06sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.97sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793748900.57799482 seconds ×3 + 1.00sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.00sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.00sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.00sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.00sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.00sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.01sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.01sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.38sINFOros2_control_nodeMuJoCo sim: 0.06% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.53sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.58sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793748901.19387889 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.64sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793748901.25405955 seconds ×3 + 2.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.25sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.30sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793748901.91679287 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.32sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793748901.93694973 seconds ×3 + 2.86sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.86sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793748902.53058195 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.07sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793748902.68142056 seconds ×3 + 3.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.70sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793748903.37923169 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.78sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.78sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.79sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.79sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.79sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750096 ms (missed cycles : 3). + 3.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750096 ms (missed cycles : 3).[0m ×2 + 3.82sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793748903.42940521 seconds ×3 + 4.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.43sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.54sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1793748904.15224528 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.55sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.55sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.55sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.55sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.55sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.56sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.56sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.56sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.56sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.66sINFOobjective_server_nodeFound path in 0 iterations (2.1193e-05 s). ×2 + 4.66sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.68sINFOros2_control_node[2026-11-03 23:35:04.289] [info] Received new action goal ×2 + 4.68sINFOros2_control_node[2026-11-03 23:35:04.289] [info] Accepted new action goal ×2 | ||||
| − skipped | — | record_teleop_trajectory.xml | 0.0s | 3 warnings · 336 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×12 + 0.00sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×12 + 0.00sINFOobjective_server_nodecaller: ×12 + 0.00sINFOobjective_server_nodetype: 0 ×12 + 0.00sINFOobjective_server_nodename: "" ×12 + 0.00sINFOobjective_server_nodeinstance_id: "" ×12 + 0.00sINFOobjective_server_node ×12 + 0.06sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793748899.66782188 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.06sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.06sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.97sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793748900.57799482 seconds ×3 + 1.00sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.00sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.00sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.00sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.00sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.00sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.01sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.01sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.38sINFOros2_control_nodeMuJoCo sim: 0.06% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.53sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.58sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793748901.19387889 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.64sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793748901.25405955 seconds ×3 + 2.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.25sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.30sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793748901.91679287 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.32sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793748901.93694973 seconds ×3 + 2.86sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.86sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793748902.53058195 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.07sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793748902.68142056 seconds ×3 + 3.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.70sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793748903.37923169 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.78sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.78sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.79sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.79sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.79sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750096 ms (missed cycles : 3). + 3.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750096 ms (missed cycles : 3).[0m ×2 + 3.82sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793748903.42940521 seconds ×3 + 4.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.43sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.54sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1793748904.15224528 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.55sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.55sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.55sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.55sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.55sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.56sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.56sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.56sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.56sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.66sINFOobjective_server_nodeFound path in 0 iterations (2.1193e-05 s). ×2 + 4.66sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.68sINFOros2_control_node[2026-11-03 23:35:04.289] [info] Received new action goal ×2 + 4.68sINFOros2_control_node[2026-11-03 23:35:04.289] [info] Accepted new action goal ×2 | ||||
| − skipped | — | track_moving_frame.xml | 0.0s | 3 warnings · 336 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×12 + 0.00sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×12 + 0.00sINFOobjective_server_nodecaller: ×12 + 0.00sINFOobjective_server_nodetype: 0 ×12 + 0.00sINFOobjective_server_nodename: "" ×12 + 0.00sINFOobjective_server_nodeinstance_id: "" ×12 + 0.00sINFOobjective_server_node ×12 + 0.06sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793748899.66782188 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.06sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.06sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.97sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793748900.57799482 seconds ×3 + 1.00sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.00sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.00sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.00sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.00sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.00sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.01sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.01sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.38sINFOros2_control_nodeMuJoCo sim: 0.06% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.53sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.58sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793748901.19387889 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.64sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793748901.25405955 seconds ×3 + 2.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.25sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.30sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793748901.91679287 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.32sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793748901.93694973 seconds ×3 + 2.86sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.86sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793748902.53058195 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.07sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793748902.68142056 seconds ×3 + 3.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.70sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793748903.37923169 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.78sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.78sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.79sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.79sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.79sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750096 ms (missed cycles : 3). + 3.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750096 ms (missed cycles : 3).[0m ×2 + 3.82sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793748903.42940521 seconds ×3 + 4.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.43sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.54sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1793748904.15224528 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.55sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.55sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.55sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.55sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.55sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.56sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.56sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.56sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.56sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.66sINFOobjective_server_nodeFound path in 0 iterations (2.1193e-05 s). ×2 + 4.66sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.68sINFOros2_control_node[2026-11-03 23:35:04.289] [info] Received new action goal ×2 + 4.68sINFOros2_control_node[2026-11-03 23:35:04.289] [info] Accepted new action goal ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/mujoco1 pass
| ✓ passed | — | reset_mujoco_sim.xml | 0.7s | 3 warnings · 347 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×12 + 0.00sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×12 + 0.00sINFOobjective_server_nodecaller: ×12 + 0.00sINFOobjective_server_nodetype: 0 ×12 + 0.00sINFOobjective_server_nodename: "" ×12 + 0.00sINFOobjective_server_nodeinstance_id: "" ×12 + 0.00sINFOobjective_server_node ×12 + 0.06sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793748899.66782188 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.06sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.06sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.97sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793748900.57799482 seconds ×3 + 1.00sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.00sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.00sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.00sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.00sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.00sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.01sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.01sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.38sINFOros2_control_nodeMuJoCo sim: 0.06% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.53sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.58sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793748901.19387889 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.64sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793748901.25405955 seconds ×3 + 2.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.25sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.30sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793748901.91679287 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.32sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793748901.93694973 seconds ×3 + 2.86sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.86sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793748902.53058195 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.07sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793748902.68142056 seconds ×3 + 3.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.70sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793748903.37923169 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.78sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.78sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.79sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.79sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.79sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750096 ms (missed cycles : 3). + 3.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750096 ms (missed cycles : 3).[0m ×2 + 3.82sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793748903.42940521 seconds ×3 + 4.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.43sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.54sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1793748904.15224528 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.55sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.55sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.55sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.55sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.55sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.56sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.56sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.56sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.56sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.66sINFOobjective_server_nodeFound path in 0 iterations (2.1193e-05 s). ×2 + 4.66sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.68sINFOros2_control_node[2026-11-03 23:35:04.289] [info] Received new action goal ×2 + 4.68sINFOros2_control_node[2026-11-03 23:35:04.289] [info] Accepted new action goal ×2 + 7.07sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 7.17sINFOobjective_server_nodeFound path in 0 iterations (2.49e-07 s). ×2 + 7.18sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 7.18sINFOros2_control_node[2026-11-03 23:35:06.797] [info] Received new action goal ×2 + 7.19sINFOros2_control_node[2026-11-03 23:35:06.797] [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 · 336 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×12 + 0.00sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×12 + 0.00sINFOobjective_server_nodecaller: ×12 + 0.00sINFOobjective_server_nodetype: 0 ×12 + 0.00sINFOobjective_server_nodename: "" ×12 + 0.00sINFOobjective_server_nodeinstance_id: "" ×12 + 0.00sINFOobjective_server_node ×12 + 0.06sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793748899.66782188 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.06sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.06sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.97sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793748900.57799482 seconds ×3 + 1.00sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.00sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.00sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.00sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.00sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.00sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.01sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.01sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.38sINFOros2_control_nodeMuJoCo sim: 0.06% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.53sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.58sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793748901.19387889 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.64sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793748901.25405955 seconds ×3 + 2.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.25sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.30sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793748901.91679287 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.32sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793748901.93694973 seconds ×3 + 2.86sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.86sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793748902.53058195 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.07sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793748902.68142056 seconds ×3 + 3.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.70sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793748903.37923169 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.78sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.78sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.79sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.79sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.79sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750096 ms (missed cycles : 3). + 3.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750096 ms (missed cycles : 3).[0m ×2 + 3.82sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793748903.42940521 seconds ×3 + 4.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.43sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.54sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1793748904.15224528 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.55sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.55sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.55sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.55sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.55sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.56sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.56sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.56sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.56sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.66sINFOobjective_server_nodeFound path in 0 iterations (2.1193e-05 s). ×2 + 4.66sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.68sINFOros2_control_node[2026-11-03 23:35:04.289] [info] Received new action goal ×2 + 4.68sINFOros2_control_node[2026-11-03 23:35:04.289] [info] Accepted new action goal ×2 | ||||
| − skipped | — | calibrate_eye_in_hand_camera.xml | 0.0s | 3 warnings · 336 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×12 + 0.00sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×12 + 0.00sINFOobjective_server_nodecaller: ×12 + 0.00sINFOobjective_server_nodetype: 0 ×12 + 0.00sINFOobjective_server_nodename: "" ×12 + 0.00sINFOobjective_server_nodeinstance_id: "" ×12 + 0.00sINFOobjective_server_node ×12 + 0.06sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793748899.66782188 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.06sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.06sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.97sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793748900.57799482 seconds ×3 + 1.00sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.00sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.00sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.00sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.00sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.00sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.01sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.01sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.38sINFOros2_control_nodeMuJoCo sim: 0.06% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.53sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.58sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793748901.19387889 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.64sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793748901.25405955 seconds ×3 + 2.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.25sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.30sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793748901.91679287 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.32sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793748901.93694973 seconds ×3 + 2.86sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.86sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793748902.53058195 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.07sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793748902.68142056 seconds ×3 + 3.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.70sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793748903.37923169 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.78sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.78sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.79sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.79sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.79sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750096 ms (missed cycles : 3). + 3.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750096 ms (missed cycles : 3).[0m ×2 + 3.82sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793748903.42940521 seconds ×3 + 4.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.43sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.54sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1793748904.15224528 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.55sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.55sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.55sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.55sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.55sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.56sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.56sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.56sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.56sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.66sINFOobjective_server_nodeFound path in 0 iterations (2.1193e-05 s). ×2 + 4.66sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.68sINFOros2_control_node[2026-11-03 23:35:04.289] [info] Received new action goal ×2 + 4.68sINFOros2_control_node[2026-11-03 23:35:04.289] [info] Accepted new action goal ×2 | ||||
| − skipped | — | calibrate_eye_to_hand_camera.xml | 0.0s | 3 warnings · 336 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×12 + 0.00sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×12 + 0.00sINFOobjective_server_nodecaller: ×12 + 0.00sINFOobjective_server_nodetype: 0 ×12 + 0.00sINFOobjective_server_nodename: "" ×12 + 0.00sINFOobjective_server_nodeinstance_id: "" ×12 + 0.00sINFOobjective_server_node ×12 + 0.06sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793748899.66782188 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.06sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.06sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.97sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793748900.57799482 seconds ×3 + 1.00sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.00sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.00sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.00sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.00sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.00sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.01sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.01sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.38sINFOros2_control_nodeMuJoCo sim: 0.06% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.53sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.58sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793748901.19387889 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.64sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793748901.25405955 seconds ×3 + 2.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.25sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.30sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793748901.91679287 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.32sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793748901.93694973 seconds ×3 + 2.86sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.86sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793748902.53058195 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.07sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793748902.68142056 seconds ×3 + 3.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.70sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793748903.37923169 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.78sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.78sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.79sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.79sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.79sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750096 ms (missed cycles : 3). + 3.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750096 ms (missed cycles : 3).[0m ×2 + 3.82sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793748903.42940521 seconds ×3 + 4.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.43sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.54sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1793748904.15224528 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.55sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.55sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.55sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.55sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.55sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.56sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.56sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.56sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.56sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.66sINFOobjective_server_nodeFound path in 0 iterations (2.1193e-05 s). ×2 + 4.66sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.68sINFOros2_control_node[2026-11-03 23:35:04.289] [info] Received new action goal ×2 + 4.68sINFOros2_control_node[2026-11-03 23:35:04.289] [info] Accepted new action goal ×2 | ||||
| − skipped | — | capture_calibration_sample.xml | 0.0s | 3 warnings · 336 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×12 + 0.00sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×12 + 0.00sINFOobjective_server_nodecaller: ×12 + 0.00sINFOobjective_server_nodetype: 0 ×12 + 0.00sINFOobjective_server_nodename: "" ×12 + 0.00sINFOobjective_server_nodeinstance_id: "" ×12 + 0.00sINFOobjective_server_node ×12 + 0.06sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793748899.66782188 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.06sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.06sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.97sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793748900.57799482 seconds ×3 + 1.00sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.00sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.00sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.00sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.00sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.00sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.01sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.01sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.38sINFOros2_control_nodeMuJoCo sim: 0.06% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.53sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.58sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793748901.19387889 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.64sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793748901.25405955 seconds ×3 + 2.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.25sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.30sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793748901.91679287 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.32sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793748901.93694973 seconds ×3 + 2.86sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.86sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793748902.53058195 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.07sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793748902.68142056 seconds ×3 + 3.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.70sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793748903.37923169 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.78sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.78sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.79sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.79sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.79sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750096 ms (missed cycles : 3). + 3.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750096 ms (missed cycles : 3).[0m ×2 + 3.82sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793748903.42940521 seconds ×3 + 4.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.43sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.54sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1793748904.15224528 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.55sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.55sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.55sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.55sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.55sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.56sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.56sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.56sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.56sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.66sINFOobjective_server_nodeFound path in 0 iterations (2.1193e-05 s). ×2 + 4.66sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.68sINFOros2_control_node[2026-11-03 23:35:04.289] [info] Received new action goal ×2 + 4.68sINFOros2_control_node[2026-11-03 23:35:04.289] [info] Accepted new action goal ×2 | ||||
| − skipped | — | capture_camera_point_cloud.xml | 0.0s | 3 warnings · 336 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×12 + 0.00sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×12 + 0.00sINFOobjective_server_nodecaller: ×12 + 0.00sINFOobjective_server_nodetype: 0 ×12 + 0.00sINFOobjective_server_nodename: "" ×12 + 0.00sINFOobjective_server_nodeinstance_id: "" ×12 + 0.00sINFOobjective_server_node ×12 + 0.06sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793748899.66782188 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.06sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.06sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.97sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793748900.57799482 seconds ×3 + 1.00sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.00sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.00sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.00sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.00sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.00sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.01sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.01sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.38sINFOros2_control_nodeMuJoCo sim: 0.06% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.53sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.58sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793748901.19387889 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.64sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793748901.25405955 seconds ×3 + 2.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.25sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.30sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793748901.91679287 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.32sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793748901.93694973 seconds ×3 + 2.86sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.86sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793748902.53058195 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.07sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793748902.68142056 seconds ×3 + 3.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.70sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793748903.37923169 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.78sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.78sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.79sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.79sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.79sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750096 ms (missed cycles : 3). + 3.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750096 ms (missed cycles : 3).[0m ×2 + 3.82sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793748903.42940521 seconds ×3 + 4.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.43sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.54sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1793748904.15224528 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.55sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.55sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.55sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.55sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.55sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.56sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.56sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.56sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.56sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.66sINFOobjective_server_nodeFound path in 0 iterations (2.1193e-05 s). ×2 + 4.66sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.68sINFOros2_control_node[2026-11-03 23:35:04.289] [info] Received new action goal ×2 + 4.68sINFOros2_control_node[2026-11-03 23:35:04.289] [info] Accepted new action goal ×2 | ||||
| − skipped | — | collect_calibration_samples.xml | 0.0s | 3 warnings · 336 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×12 + 0.00sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×12 + 0.00sINFOobjective_server_nodecaller: ×12 + 0.00sINFOobjective_server_nodetype: 0 ×12 + 0.00sINFOobjective_server_nodename: "" ×12 + 0.00sINFOobjective_server_nodeinstance_id: "" ×12 + 0.00sINFOobjective_server_node ×12 + 0.06sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793748899.66782188 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.06sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.06sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.97sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793748900.57799482 seconds ×3 + 1.00sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.00sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.00sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.00sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.00sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.00sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.01sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.01sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.38sINFOros2_control_nodeMuJoCo sim: 0.06% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.53sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.58sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793748901.19387889 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.64sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793748901.25405955 seconds ×3 + 2.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.25sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.30sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793748901.91679287 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.32sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793748901.93694973 seconds ×3 + 2.86sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.86sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793748902.53058195 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.07sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793748902.68142056 seconds ×3 + 3.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.70sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793748903.37923169 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.78sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.78sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.79sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.79sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.79sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750096 ms (missed cycles : 3). + 3.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750096 ms (missed cycles : 3).[0m ×2 + 3.82sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793748903.42940521 seconds ×3 + 4.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.43sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.54sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1793748904.15224528 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.55sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.55sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.55sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.55sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.55sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.56sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.56sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.56sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.56sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.66sINFOobjective_server_nodeFound path in 0 iterations (2.1193e-05 s). ×2 + 4.66sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.68sINFOros2_control_node[2026-11-03 23:35:04.289] [info] Received new action goal ×2 + 4.68sINFOros2_control_node[2026-11-03 23:35:04.289] [info] Accepted new action goal ×2 | ||||
| − skipped | — | generate_calibration_waypoints.xml | 0.0s | 3 warnings · 336 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×12 + 0.00sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×12 + 0.00sINFOobjective_server_nodecaller: ×12 + 0.00sINFOobjective_server_nodetype: 0 ×12 + 0.00sINFOobjective_server_nodename: "" ×12 + 0.00sINFOobjective_server_nodeinstance_id: "" ×12 + 0.00sINFOobjective_server_node ×12 + 0.06sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793748899.66782188 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.06sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.06sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.97sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793748900.57799482 seconds ×3 + 1.00sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.00sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.00sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.00sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.00sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.00sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.01sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.01sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.38sINFOros2_control_nodeMuJoCo sim: 0.06% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.53sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.58sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793748901.19387889 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.64sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793748901.25405955 seconds ×3 + 2.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.25sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.30sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793748901.91679287 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.32sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793748901.93694973 seconds ×3 + 2.86sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.86sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793748902.53058195 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.07sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793748902.68142056 seconds ×3 + 3.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.70sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793748903.37923169 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.78sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.78sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.79sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.79sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.79sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750096 ms (missed cycles : 3). + 3.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750096 ms (missed cycles : 3).[0m ×2 + 3.82sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793748903.42940521 seconds ×3 + 4.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.43sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.54sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1793748904.15224528 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.55sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.55sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.55sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.55sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.55sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.56sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.56sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.56sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.56sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.66sINFOobjective_server_nodeFound path in 0 iterations (2.1193e-05 s). ×2 + 4.66sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.68sINFOros2_control_node[2026-11-03 23:35:04.289] [info] Received new action goal ×2 + 4.68sINFOros2_control_node[2026-11-03 23:35:04.289] [info] Accepted new action goal ×2 | ||||
| − skipped | — | get_imarker_pose_from_mesh_visualization.xml | 0.0s | 3 warnings · 336 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×12 + 0.00sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×12 + 0.00sINFOobjective_server_nodecaller: ×12 + 0.00sINFOobjective_server_nodetype: 0 ×12 + 0.00sINFOobjective_server_nodename: "" ×12 + 0.00sINFOobjective_server_nodeinstance_id: "" ×12 + 0.00sINFOobjective_server_node ×12 + 0.06sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793748899.66782188 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.06sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.06sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.97sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793748900.57799482 seconds ×3 + 1.00sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.00sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.00sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.00sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.00sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.00sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.01sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.01sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.38sINFOros2_control_nodeMuJoCo sim: 0.06% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.53sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.58sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793748901.19387889 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.64sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793748901.25405955 seconds ×3 + 2.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.25sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.30sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793748901.91679287 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.32sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793748901.93694973 seconds ×3 + 2.86sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.86sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793748902.53058195 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.07sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793748902.68142056 seconds ×3 + 3.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.70sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793748903.37923169 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.78sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.78sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.79sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.79sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.79sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750096 ms (missed cycles : 3). + 3.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750096 ms (missed cycles : 3).[0m ×2 + 3.82sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793748903.42940521 seconds ×3 + 4.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.43sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.54sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1793748904.15224528 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.55sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.55sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.55sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.55sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.55sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.56sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.56sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.56sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.56sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.66sINFOobjective_server_nodeFound path in 0 iterations (2.1193e-05 s). ×2 + 4.66sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.68sINFOros2_control_node[2026-11-03 23:35:04.289] [info] Received new action goal ×2 + 4.68sINFOros2_control_node[2026-11-03 23:35:04.289] [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 · 336 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×12 + 0.00sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×12 + 0.00sINFOobjective_server_nodecaller: ×12 + 0.00sINFOobjective_server_nodetype: 0 ×12 + 0.00sINFOobjective_server_nodename: "" ×12 + 0.00sINFOobjective_server_nodeinstance_id: "" ×12 + 0.00sINFOobjective_server_node ×12 + 0.06sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793748899.66782188 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.06sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.06sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.97sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793748900.57799482 seconds ×3 + 1.00sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.00sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.00sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.00sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.00sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.00sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.01sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.01sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.38sINFOros2_control_nodeMuJoCo sim: 0.06% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.53sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.58sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793748901.19387889 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.64sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793748901.25405955 seconds ×3 + 2.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.25sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.30sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793748901.91679287 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.32sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793748901.93694973 seconds ×3 + 2.86sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.86sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793748902.53058195 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.07sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793748902.68142056 seconds ×3 + 3.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.70sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793748903.37923169 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.78sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.78sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.79sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.79sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.79sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750096 ms (missed cycles : 3). + 3.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750096 ms (missed cycles : 3).[0m ×2 + 3.82sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793748903.42940521 seconds ×3 + 4.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.43sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.54sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1793748904.15224528 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.55sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.55sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.55sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.55sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.55sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.56sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.56sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.56sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.56sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.66sINFOobjective_server_nodeFound path in 0 iterations (2.1193e-05 s). ×2 + 4.66sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.68sINFOros2_control_node[2026-11-03 23:35:04.289] [info] Received new action goal ×2 + 4.68sINFOros2_control_node[2026-11-03 23:35:04.289] [info] Accepted new action goal ×2 | ||||
| − skipped | — | interactive_marker_visualization_example.xml | 0.0s | 3 warnings · 336 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×12 + 0.00sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×12 + 0.00sINFOobjective_server_nodecaller: ×12 + 0.00sINFOobjective_server_nodetype: 0 ×12 + 0.00sINFOobjective_server_nodename: "" ×12 + 0.00sINFOobjective_server_nodeinstance_id: "" ×12 + 0.00sINFOobjective_server_node ×12 + 0.06sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793748899.66782188 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.06sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.06sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.97sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793748900.57799482 seconds ×3 + 1.00sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.00sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.00sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.00sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.00sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.00sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.01sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.01sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.38sINFOros2_control_nodeMuJoCo sim: 0.06% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.53sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.58sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793748901.19387889 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.64sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793748901.25405955 seconds ×3 + 2.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.25sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.30sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793748901.91679287 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.32sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793748901.93694973 seconds ×3 + 2.86sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.86sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793748902.53058195 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.07sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793748902.68142056 seconds ×3 + 3.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.70sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793748903.37923169 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.78sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.78sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.79sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.79sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.79sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750096 ms (missed cycles : 3). + 3.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750096 ms (missed cycles : 3).[0m ×2 + 3.82sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793748903.42940521 seconds ×3 + 4.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.43sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.54sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1793748904.15224528 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.55sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.55sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.55sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.55sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.55sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.56sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.56sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.56sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.56sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.66sINFOobjective_server_nodeFound path in 0 iterations (2.1193e-05 s). ×2 + 4.66sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.68sINFOros2_control_node[2026-11-03 23:35:04.289] [info] Received new action goal ×2 + 4.68sINFOros2_control_node[2026-11-03 23:35:04.289] [info] Accepted new action goal ×2 | ||||
| − skipped | — | visualize_tf.xml | 0.0s | 3 warnings · 336 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×12 + 0.00sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×12 + 0.00sINFOobjective_server_nodecaller: ×12 + 0.00sINFOobjective_server_nodetype: 0 ×12 + 0.00sINFOobjective_server_nodename: "" ×12 + 0.00sINFOobjective_server_nodeinstance_id: "" ×12 + 0.00sINFOobjective_server_node ×12 + 0.06sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793748899.66782188 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.06sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.06sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.97sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793748900.57799482 seconds ×3 + 1.00sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.00sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.00sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.00sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.00sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.00sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.01sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.01sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.38sINFOros2_control_nodeMuJoCo sim: 0.06% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.53sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.58sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793748901.19387889 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.64sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793748901.25405955 seconds ×3 + 2.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.25sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.30sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793748901.91679287 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.32sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793748901.93694973 seconds ×3 + 2.86sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.86sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793748902.53058195 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.07sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793748902.68142056 seconds ×3 + 3.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.70sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793748903.37923169 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.78sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.78sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.79sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.79sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.79sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750096 ms (missed cycles : 3). + 3.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750096 ms (missed cycles : 3).[0m ×2 + 3.82sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793748903.42940521 seconds ×3 + 4.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.43sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.54sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1793748904.15224528 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.55sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.55sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.55sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.55sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.55sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.56sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.56sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.56sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.56sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.66sINFOobjective_server_nodeFound path in 0 iterations (2.1193e-05 s). ×2 + 4.66sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.68sINFOros2_control_node[2026-11-03 23:35:04.289] [info] Received new action goal ×2 + 4.68sINFOros2_control_node[2026-11-03 23:35:04.289] [info] Accepted new action goal ×2 | ||||