136
Total objective tests
35
Objectives passed
0
Objectives failed
101
Objectives skipped
9.8s
Avg test time
100%
Objective pass rate
▾
/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/objectives31 pass60 skip
| ✓ passed | Move Flasks to Burners | move_flasks_to_burners.xml | 42.8s | 342 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 0.00sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×6 + 0.00sINFOobjective_server_nodecaller: ×6 + 0.00sINFOobjective_server_nodetype: 0 ×6 + 0.00sINFOobjective_server_nodename: "" ×6 + 0.00sINFOobjective_server_nodeinstance_id: "" ×6 + 0.00sINFOobjective_server_node ×6 + 0.07sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1793912880.86197138 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.08sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×24 + 0.18sINFOobjective_server_nodeFound path in 0 iterations (2.87e-07 s). ×2 + 0.18sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.19sINFOros2_control_node[2026-11-05 21:08:00.976] [info] Received new action goal ×2 + 0.19sINFOros2_control_node[2026-11-05 21:08:00.976] [info] Accepted new action goal ×2 + 2.19sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1793912882.98213291 seconds ×3 + 3.20sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.20sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.21sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.74sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.82sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1793912884.60976672 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×6 + 3.82sINFOros2_control_nodeReceived & accepted new action goal[0m ×12 + 3.90sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.91sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.18sINFOobjective_server_nodeFound path in 0 iterations (2.11e-07 s). ×2 + 4.19sINFOobjective_server_nodePath shortcutter: [X_____________X] ×6 + 4.24sINFOros2_control_node[2026-11-05 21:08:05.028] [info] Received new action goal ×2 + 4.24sINFOros2_control_node[2026-11-05 21:08:05.028] [info] Accepted new action goal ×2 + 7.09sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). ×2 + 7.10sINFOros2_control_node[2026-11-05 21:08:07.895] [info] Received new action goal ×2 + 7.10sINFOros2_control_node[2026-11-05 21:08:07.895] [info] Accepted new action goal ×2 + 10.22sINFOobjective_server_nodePlanning for 2 path waypoints. ×12 + 10.24sINFOros2_control_node[2026-11-05 21:08:11.025] [info] Received new action goal ×2 + 10.24sINFOros2_control_node[2026-11-05 21:08:11.025] [info] Accepted new action goal ×2 + 13.21sINFOobjective_server_nodeFound path in 0 iterations (2.29e-07 s). ×2 + 13.22sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 13.27sINFOros2_control_node[2026-11-05 21:08:14.057] [info] Received new action goal ×2 + 13.27sINFOros2_control_node[2026-11-05 21:08:14.057] [info] Accepted new action goal ×2 + 16.23sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×6 + 16.23sINFOcontroller_managerActivating controllers: [ velocity_force_controller ] ×2 + 16.23sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 16.23sINFOros2_control_nodeActivating controllers: [ velocity_force_controller ][0m ×4 + 16.23sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 16.23sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 16.23sINFOcontroller_managerActivated controllers: [ velocity_force_controller ] ×2 + 16.23sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 16.23sINFOros2_control_nodeActivated controllers: [ velocity_force_controller ][0m ×4 + 17.09sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 23.73sINFOobjective_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 + 23.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 23.73sINFOcontroller_managerDeactivating controllers: [ velocity_force_controller ] ×2 + 23.73sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 23.73sINFOros2_control_nodeDeactivating controllers: [ velocity_force_controller ][0m ×4 + 23.73sINFOcontroller_managerDeactivated controllers: [ velocity_force_controller ] ×2 + 23.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 23.73sINFOros2_control_nodeDeactivated controllers: [ velocity_force_controller ][0m ×4 + 23.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 24.65sINFOros2_control_node[2026-11-05 21:08:25.443] [info] Received new action goal ×2 + 24.65sINFOros2_control_node[2026-11-05 21:08:25.443] [info] Accepted new action goal ×2 + 25.84sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.501662224630075;y=0.473544122163861;z=0.5757551197465615, orientation: x=-0.0003208404100914391;y=0.9949830911508987;z=0.10003957719337829;w=-0.0007927043609334042 ×3 + 25.85sINFOobjective_server_nodeLink name: grasp_link, position: x=0.6598576612532956;y=0.560002886143494;z=0.650831489837671, orientation: x=-0.00013997501114327708;y=0.9955508839479362;z=0.09420424850691615;w=-0.0019943522071821764 ×3 + 26.12sINFOobjective_server_nodeFound path in 0 iterations (2.37e-07 s). ×2 + 26.18sINFOros2_control_node[2026-11-05 21:08:26.967] [info] Received new action goal ×2 + 26.18sINFOros2_control_node[2026-11-05 21:08:26.967] [info] Accepted new action goal ×2 + 28.45sINFOobjective_server_nodeFound path in 0 iterations (2.48e-07 s). ×2 + 28.46sINFOobjective_server_nodePath shortcutter: [X___________X] ×2 + 28.47sINFOros2_control_node[2026-11-05 21:08:29.264] [info] Received new action goal ×2 + 28.47sINFOros2_control_node[2026-11-05 21:08:29.264] [info] Accepted new action goal ×2 + 31.48sINFOros2_control_node[2026-11-05 21:08:32.275] [info] Received new action goal ×2 + 31.48sINFOros2_control_node[2026-11-05 21:08:32.275] [info] Accepted new action goal ×2 + 34.08sINFOobjective_server_nodeFound path in 0 iterations (5.1e-07 s). ×2 + 34.08sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 34.14sINFOros2_control_node[2026-11-05 21:08:34.927] [info] Received new action goal ×2 + 34.14sINFOros2_control_node[2026-11-05 21:08:34.927] [info] Accepted new action goal ×2 + 44.82sINFOros2_control_node[2026-11-05 21:08:45.606] [info] Received new action goal ×2 + 44.82sINFOros2_control_node[2026-11-05 21:08:45.606] [info] Accepted new action goal ×2 + 45.97sINFOobjective_server_nodeObjective `Move Flasks to Burners` succeeded at time: 1793912926.76185966 seconds ×3 + 46.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Push Button"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 46.54sINFOobjective_server_nodeobjective_name: "Push Button" ×2 + 46.75sINFOobjective_server_nodeObjective `Push Button` starting at time: 1793912927.54155660 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 47.78sINFOobjective_server_nodeFound path in 0 iterations (2.58e-07 s). ×2 + 47.80sINFOobjective_server_nodePath shortcutter: [X___________________________X] ×2 + 47.81sINFOros2_control_node[2026-11-05 21:08:48.596] [info] Received new action goal ×2 + 47.81sINFOros2_control_node[2026-11-05 21:08:48.596] [info] Accepted new action goal ×2 | ||||
| ✓ passed | Record Surface Coverage Demo | record_surface_coverage_demo.xml | 34.3s | 17 warnings · 311 info |
+ 0.00sINFOros2_control_node[2026-11-05 21:10:41.770] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-11-05 21:10:41.770] [info] Accepted new action goal ×2 + 0.50sINFOros2_control_node[2026-11-05 21:10:42.271] [info] Received new action goal ×2 + 0.50sINFOros2_control_node[2026-11-05 21:10:42.271] [info] Accepted new action goal ×2 + 2.57sINFOros2_control_node[2026-11-05 21:10:44.342] [info] Received new action goal ×2 + 2.57sINFOros2_control_node[2026-11-05 21:10:44.342] [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: 1793913045.14700460 seconds ×3 + 3.38sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×5 + 3.38sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×10 + 3.38sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 3.38sINFOcontroller_managerSuccessfully switched controllers! ×10 + 3.38sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 3.38sINFOros2_control_nodeSuccessfully switched controllers![0m ×20 + 3.39sINFOros2_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 + 3.40sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×5 + 3.40sINFOros2_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: 1793913045.79719663 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 (4.12e-07 s). ×2 + 5.05sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.06sINFOros2_control_node[2026-11-05 21:10:46.831] [info] Received new action goal ×2 + 5.06sINFOros2_control_node[2026-11-05 21:10:46.831] [info] Accepted new action goal ×2 + 7.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.815347 ms (missed cycles : 5). + 7.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.815347 ms (missed cycles : 5).[0m ×2 + 8.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.925464 ms (missed cycles : 6). + 8.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.925464 ms (missed cycles : 6).[0m ×2 + 9.26sINFOobjective_server_nodeGenerateSurfaceCoveragePath Info: Generated 48 coverage poses over the region's +Z face. ×3 + 9.27sINFOobjective_server_nodePlanning for 49 path waypoints. ×3 + 9.32sINFOros2_control_node[2026-11-05 21:10:51.087] [info] Received new action goal ×2 + 9.32sINFOros2_control_node[2026-11-05 21:10:51.087] [info] Accepted new action goal ×2 + 19.12sINFOobjective_server_nodeFound path in 0 iterations (2.93e-07 s). ×2 + 19.12sINFOobjective_server_nodePath shortcutter: [X__________X] ×2 + 19.13sINFOros2_control_node[2026-11-05 21:11:00.901] [info] Received new action goal ×2 + 19.13sINFOros2_control_node[2026-11-05 21:11:00.901] [info] Accepted new action goal ×2 + 21.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.235660 ms (missed cycles : 5). + 21.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.235660 ms (missed cycles : 5).[0m ×2 + 22.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.205511 ms (missed cycles : 2). + 22.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.205511 ms (missed cycles : 2).[0m ×2 + 23.64sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 24.40sINFOobjective_server_nodeGenerateSurfaceCoveragePath Info: Generated 54 coverage poses over the region's +Z face. ×3 + 24.42sINFOobjective_server_nodePlanning for 55 path waypoints. ×3 + 24.46sINFOros2_control_node[2026-11-05 21:11:06.232] [info] Received new action goal ×2 + 24.46sINFOros2_control_node[2026-11-05 21:11:06.232] [info] Accepted new action goal ×2 + 33.90sINFOobjective_server_nodeFound path in 0 iterations (4.07e-07 s). ×2 + 33.90sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 33.92sINFOros2_control_node[2026-11-05 21:11:15.687] [info] Received new action goal ×2 + 33.92sINFOros2_control_node[2026-11-05 21:11:15.687] [info] Accepted new action goal ×2 + 36.12sINFOros2_control_nodeMuJoCo sim: 0.01% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 37.70sINFOobjective_server_nodeObjective `Record Surface Coverage Demo` succeeded at time: 1793913079.47151542 seconds ×3 + 38.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 38.34sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 38.56sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1793913080.32983279 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 38.60sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 38.60sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 38.62sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 38.62sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 38.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.739311 ms (missed cycles : 3). + 38.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.739311 ms (missed cycles : 3).[0m ×2 + 38.64sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1793913080.40999460 seconds ×3 + 39.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 39.18sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 39.24sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1793913081.01453948 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 39.27sINFOobjective_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 + 39.27sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1793913081.03606725 seconds ×3 + 39.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 39.90sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 39.97sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1793913081.73876190 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 40.07sINFOobjective_server_nodeFound path in 0 iterations (2.89e-07 s). ×2 + 40.07sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 40.08sINFOros2_control_node[2026-11-05 21:11:21.853] [info] Received new action goal ×2 + 40.08sINFOros2_control_node[2026-11-05 21:11:21.853] [info] Accepted new action goal ×2 | ||||
| ✓ passed | MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample | mpc_pose_tracking_dynamic_point_cloud_avoidance_with_sphere_down_sample.xml | 32.5s | 60 warnings · 18898 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.553411 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.553411 ms (missed cycles : 4).[0m ×2 + 1.67sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1793912938.34351254 seconds ×3 + 1.68sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 1.68sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 1.68sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.68sINFOcontroller_managerSuccessfully switched controllers! ×7 + 1.68sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×14 + 1.68sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.69sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 1.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 1.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 1.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.21sINFOobjective_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: ""
+ 2.21sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.21sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample" ×2 + 2.21sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.21sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.21sINFOobjective_server_nodecaller: ×4 + 2.21sINFOobjective_server_nodetype: 0 ×4 + 2.21sINFOobjective_server_nodename: "" ×4 + 2.21sINFOobjective_server_nodeinstance_id: "" ×4 + 2.21sINFOobjective_server_node ×4 + 2.29sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1793912938.95995760 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.34sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×15 + 2.44sINFOobjective_server_nodeFound path in 0 iterations (2.63e-07 s). ×2 + 2.44sINFOobjective_server_nodePath shortcutter: [X____X] ×4 + 2.45sINFOros2_control_node[2026-11-05 21:08:59.124] [info] Received new action goal ×2 + 2.45sINFOros2_control_node[2026-11-05 21:08:59.124] [info] Accepted new action goal ×2 + 3.72sINFOobjective_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 ×6 + 3.72sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 3.80sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×6 + 3.80sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] ×2 + 3.80sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 3.80sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×4 + 3.80sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 3.81sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 3.81sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] ×2 + 3.81sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 3.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×4 + 3.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.837250 ms (missed cycles : 2). + 3.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.837250 ms (missed cycles : 2).[0m ×2 + 4.48sINFOjoint_trajectory_controllerReceived new action goal ×3108 + 4.48sINFOjoint_trajectory_controllerAccepted new action goal ×3108 + 4.48sINFOros2_control_nodeReceived new action goal[0m ×6216 + 4.48sINFOros2_control_nodeAccepted new action goal[0m ×6216 + 5.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.996890 ms (missed cycles : 2). + 5.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.996890 ms (missed cycles : 2).[0m ×2 + 6.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.136335 ms (missed cycles : 2). + 6.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.136335 ms (missed cycles : 2).[0m ×2 + 7.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.878676 ms (missed cycles : 2). + 7.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.878676 ms (missed cycles : 2).[0m ×2 + 9.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.653817 ms (missed cycles : 2). + 9.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.653817 ms (missed cycles : 2).[0m ×2 + 9.81sINFOjoint_trajectory_controllerGot request to cancel goal ×10 + 9.81sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. ×5 + 9.81sINFOros2_control_nodeGot request to cancel goal[0m ×20 + 9.81sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×10 + 9.82sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×10 + 10.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.876616 ms (missed cycles : 2). + 10.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.876616 ms (missed cycles : 2).[0m ×2 + 12.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.935766 ms (missed cycles : 2). + 12.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.935766 ms (missed cycles : 2).[0m ×2 + 13.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.815424 ms (missed cycles : 2). + 13.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.815424 ms (missed cycles : 2).[0m ×2 + 15.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.055894 ms (missed cycles : 2). + 15.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.055894 ms (missed cycles : 2).[0m ×2 + 16.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.744810 ms (missed cycles : 2). + 16.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.744810 ms (missed cycles : 2).[0m ×2 + 18.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.215982 ms (missed cycles : 2). + 18.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.215982 ms (missed cycles : 2).[0m ×2 + 19.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.933060 ms (missed cycles : 2). + 19.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.933060 ms (missed cycles : 2).[0m ×2 + 20.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.030728 ms (missed cycles : 2). + 20.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.030728 ms (missed cycles : 2).[0m ×2 + 21.21sINFOros2_control_nodeMuJoCo sim: 0.02% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 22.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.780846 ms (missed cycles : 2). + 22.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.780846 ms (missed cycles : 2).[0m ×2 + 23.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.259689 ms (missed cycles : 2). + 23.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.259689 ms (missed cycles : 2).[0m ×2 + 24.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.691940 ms (missed cycles : 2). + 24.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.691940 ms (missed cycles : 2).[0m ×2 + 26.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.090336 ms (missed cycles : 2). + 26.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.090336 ms (missed cycles : 2).[0m ×2 + 28.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729913 ms (missed cycles : 2). + 28.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729913 ms (missed cycles : 2).[0m ×2 + 34.16sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1793912970.82855153 seconds ×3 + 34.16sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 34.16sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 34.17sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 34.17sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 34.18sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 34.18sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 34.70sINFOobjective_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: ""
+ 34.70sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample" ×2 + 34.80sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1793912971.47001481 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 34.85sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 34.85sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 34.85sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 34.85sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 34.85sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 34.85sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 34.85sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 34.85sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 34.85sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 34.94sINFOobjective_server_nodeFound path in 0 iterations (2.91e-07 s). ×2 + 34.95sINFOros2_control_node[2026-11-05 21:09:31.624] [info] Received new action goal ×2 + 34.95sINFOros2_control_node[2026-11-05 21:09:31.624] [info] Accepted new action goal ×2 + 36.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.911378 ms (missed cycles : 2). + 36.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.911378 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample | mpc_pose_tracking_static_point_cloud_avoidance_with_sphere_down_sample.xml | 20.1s | 33 warnings · 13792 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×2266 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×2266 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×4532 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×4532 + 3.31sINFOjoint_trajectory_controllerGot request to cancel goal ×4 + 3.31sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. ×2 + 3.31sINFOros2_control_nodeGot request to cancel goal[0m ×8 + 3.31sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×4 + 3.32sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1793912970.82855153 seconds ×3 + 3.33sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×2 + 3.33sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×4 + 3.33sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.33sINFOcontroller_managerSuccessfully switched controllers! ×7 + 3.33sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.33sINFOros2_control_nodeSuccessfully switched controllers![0m ×14 + 3.34sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.34sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×2 + 3.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×4 + 3.34sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×2 + 3.34sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×4 + 3.87sINFOobjective_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: ""
+ 3.87sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.87sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample" ×2 + 3.87sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.87sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.87sINFOobjective_server_nodecaller: ×4 + 3.87sINFOobjective_server_nodetype: 0 ×4 + 3.87sINFOobjective_server_nodename: "" ×4 + 3.87sINFOobjective_server_nodeinstance_id: "" ×4 + 3.87sINFOobjective_server_node ×4 + 3.97sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1793912971.47001481 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.02sINFOobjective_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 + 4.02sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 4.02sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] ×2 + 4.02sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 4.02sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×4 + 4.02sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] ×2 + 4.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 4.02sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×4 + 4.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 4.11sINFOobjective_server_nodeFound path in 0 iterations (2.91e-07 s). ×2 + 4.11sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 4.12sINFOros2_control_node[2026-11-05 21:09:31.624] [info] Received new action goal ×2 + 4.12sINFOros2_control_node[2026-11-05 21:09:31.624] [info] Accepted new action goal ×2 + 5.37sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×2 + 5.43sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.16727752384940525;y=0.47323919871065;z=0.7971805284211555, orientation: x=0.5894248519484582;y=0.7987881401812754;z=0.09721280806199328;w=-0.07117247333048911 ×3 + 5.45sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×3 + 5.45sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.45sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] + 5.45sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.45sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.45sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] + 5.45sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 5.45sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.45sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.911378 ms (missed cycles : 2). + 5.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.911378 ms (missed cycles : 2).[0m ×2 + 7.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.778202 ms (missed cycles : 2). + 7.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.778202 ms (missed cycles : 2).[0m ×2 + 9.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.771324 ms (missed cycles : 2). + 9.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.771324 ms (missed cycles : 2).[0m ×2 + 12.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.731441 ms (missed cycles : 2). + 12.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.731441 ms (missed cycles : 2).[0m ×2 + 13.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.250001 ms (missed cycles : 2). + 13.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.250001 ms (missed cycles : 2).[0m ×2 + 15.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.872794 ms (missed cycles : 2). + 15.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.872794 ms (missed cycles : 2).[0m ×2 + 17.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.817583 ms (missed cycles : 2). + 17.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.817583 ms (missed cycles : 2).[0m ×2 + 18.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.159836 ms (missed cycles : 2). + 18.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.159836 ms (missed cycles : 2).[0m ×2 + 21.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.971261 ms (missed cycles : 2). + 21.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.971261 ms (missed cycles : 2).[0m ×2 + 22.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.816140 ms (missed cycles : 2). + 22.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.816140 ms (missed cycles : 2).[0m ×2 + 23.45sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1793912990.95892644 seconds ×3 + 24.09sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object With Approval"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 24.09sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 24.20sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1793912991.70312858 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 24.20sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 24.20sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 24.38sINFOobjective_server_nodeFound path in 0 iterations (2.82e-07 s). ×2 + 24.38sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 24.39sINFOros2_control_node[2026-11-05 21:09:51.897] [info] Received new action goal ×2 + 24.39sINFOros2_control_node[2026-11-05 21:09:51.897] [info] Accepted new action goal ×2 + 26.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.207690 ms (missed cycles : 4). + 26.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.207690 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Live Surface Coverage Demo | live_surface_coverage_demo.xml | 19.8s | 3 errors · 6 warnings · 189 info |
+ 0.00sINFOobjective_server_nodeFound path in 0 iterations (2.74e-07 s). ×2 + 0.00sINFOobjective_server_nodePath shortcutter: [X__X] ×2 + 0.00sINFOobjective_server_nodeFound path in 0 iterations (1.96e-07 s). ×2 + 0.01sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 0.02sINFOobjective_server_nodeFound path in 0 iterations (1.83e-07 s). ×2 + 0.12sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X] ×2 + 0.15sINFOobjective_server_nodeFound path in 1 iterations (0.00460083 s). ×2 + 0.32sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________________________X_________________X] ×2 + 0.38sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 0.39sINFOros2_control_node[2026-11-05 21:07:25.772] [info] Received new action goal ×2 + 0.39sINFOros2_control_node[2026-11-05 21:07:25.772] [info] Accepted new action goal ×2 + 0.82sINFOros2_control_node[2026-11-05 21:07:26.204] [info] Received new action goal ×2 + 0.82sINFOros2_control_node[2026-11-05 21:07:26.204] [info] Accepted new action goal ×2 + 2.14sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.14sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.34sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.35sINFOrobotiq_gripper_controllerGot request to cancel goal + 2.35sINFOrobotiq_gripper_controllerCanceling active action goal because cancel callback received. + 2.35sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 2.35sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 2.39sERRORobjective_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: 1793912847.76966691 seconds ×3 + 2.39sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.39sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.39sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.39sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.39sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.39sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.40sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.40sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.40sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.40sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.41sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.41sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Live Surface Coverage Demo"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.07sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.07sINFOobjective_server_nodeobjective_name: "Live Surface Coverage Demo" ×2 + 3.07sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.07sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.07sINFOobjective_server_nodecaller: ×4 + 3.07sINFOobjective_server_nodetype: 0 ×4 + 3.07sINFOobjective_server_nodename: "" ×4 + 3.07sINFOobjective_server_nodeinstance_id: "" ×4 + 3.07sINFOobjective_server_node ×4 + 3.20sINFOobjective_server_nodeObjective `Live Surface Coverage Demo` starting at time: 1793912848.58027005 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.21sINFOobjective_server_nodeFound path in 0 iterations (3.02e-07 s). ×2 + 4.21sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.22sINFOros2_control_node[2026-11-05 21:07:29.604] [info] Received new action goal ×2 + 4.22sINFOros2_control_node[2026-11-05 21:07:29.604] [info] Accepted new action goal ×2 + 6.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296627 ms (missed cycles : 2). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296627 ms (missed cycles : 2).[0m ×2 + 7.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.778466 ms (missed cycles : 4). + 7.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.778466 ms (missed cycles : 4).[0m ×2 + 8.60sINFOobjective_server_nodeGenerateSurfaceCoveragePath Info: Generated 48 coverage poses over the region's +Z face. ×3 + 8.62sINFOobjective_server_nodePlanning for 49 path waypoints. ×3 + 8.67sINFOros2_control_node[2026-11-05 21:07:34.047] [info] Received new action goal ×2 + 8.67sINFOros2_control_node[2026-11-05 21:07:34.047] [info] Accepted new action goal ×2 + 18.08sINFOobjective_server_nodeLogMessage Info: Live coverage recorded. ×3 + 18.20sINFOobjective_server_nodeFound path in 0 iterations (5.38e-07 s). ×2 + 18.21sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 18.23sINFOros2_control_node[2026-11-05 21:07:43.611] [info] Received new action goal ×2 + 18.23sINFOros2_control_node[2026-11-05 21:07:43.611] [info] Accepted new action goal ×2 + 22.14sINFOobjective_server_nodeObjective `Live Surface Coverage Demo` succeeded at time: 1793912867.52613783 seconds ×3 + 22.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load and Execute Joint Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 22.68sINFOobjective_server_nodeobjective_name: "Load and Execute Joint Trajectory" ×2 + 22.83sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1793912868.21493006 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 22.95sINFOobjective_server_nodeFound path in 0 iterations (4.01e-07 s). ×2 + 22.95sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 22.97sINFOros2_control_node[2026-11-05 21:07:48.349] [info] Received new action goal ×2 + 22.97sINFOros2_control_node[2026-11-05 21:07:48.349] [info] Accepted new action goal ×2 + 25.44sINFOros2_control_node[2026-11-05 21:07:50.823] [info] Received new action goal ×2 + 25.44sINFOros2_control_node[2026-11-05 21:07:50.823] [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: 1793912867.52613783 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 + 0.01sINFOros2_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 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: 1793912868.21493006 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.71sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.80sINFOobjective_server_nodeFound path in 0 iterations (4.01e-07 s). ×2 + 0.81sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 0.82sINFOros2_control_node[2026-11-05 21:07:48.349] [info] Received new action goal ×2 + 0.82sINFOros2_control_node[2026-11-05 21:07:48.349] [info] Accepted new action goal ×2 + 3.30sINFOros2_control_node[2026-11-05 21:07:50.823] [info] Received new action goal ×2 + 3.30sINFOros2_control_node[2026-11-05 21:07:50.823] [info] Accepted new action goal ×2 + 11.87sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1793912879.39483762 seconds ×3 + 12.41sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load MuJoCo Robot State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 12.41sINFOobjective_server_nodeobjective_name: "Load MuJoCo Robot State" ×2 + 12.46sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1793912879.98786545 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 12.51sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 12.51sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 12.52sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 12.52sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 12.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.351259 ms (missed cycles : 3). + 12.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.351259 ms (missed cycles : 3).[0m ×2 + 12.53sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1793912880.05806208 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: ""
+ 13.27sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 13.34sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1793912880.86197138 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 13.44sINFOobjective_server_nodeFound path in 0 iterations (2.87e-07 s). ×2 + 13.44sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 13.45sINFOros2_control_node[2026-11-05 21:08:00.976] [info] Received new action goal ×2 + 13.45sINFOros2_control_node[2026-11-05 21:08:00.976] [info] Accepted new action goal ×2 + 15.46sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1793912882.98213291 seconds ×3 | ||||
| ✓ passed | Pick April Tag Labeled Object | apriltag_pick_object.xml | 11.7s | 3 errors · 25 warnings · 268 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.467540 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.467540 ms (missed cycles : 6).[0m ×2 + 0.03sWARNros2_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 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.337379 ms (missed cycles : 4). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.337379 ms (missed cycles : 4).[0m ×2 + 1.29sINFOobjective_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 + 1.30sERRORobjective_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: 1793912801.63212109 seconds ×3 + 1.31sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 1.31sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.31sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 1.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.31sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 1.31sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.32sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.86sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.86sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 1.86sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 1.86sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 1.86sINFOobjective_server_nodeparameter_overrides: [] ×8 + 1.86sINFOobjective_server_nodecaller: ×8 + 1.86sINFOobjective_server_nodetype: 0 ×8 + 1.86sINFOobjective_server_nodename: "" ×8 + 1.86sINFOobjective_server_nodeinstance_id: "" ×8 + 1.86sINFOobjective_server_node ×8 + 1.92sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1793912802.25271869 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.05sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1793912802.38288856 seconds ×3 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.765359 ms (missed cycles : 2). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.765359 ms (missed cycles : 2).[0m ×2 + 2.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.68sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 2.74sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1793912803.07518196 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.75sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.75sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.83sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 2.93sINFOobjective_server_nodeFound path in 0 iterations (4.14e-07 s). ×2 + 2.93sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 2.94sINFOros2_control_node[2026-11-05 21:06:43.270] [info] Received new action goal ×2 + 2.94sINFOros2_control_node[2026-11-05 21:06:43.270] [info] Accepted new action goal ×2 + 5.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.236971 ms (missed cycles : 4). + 5.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.236971 ms (missed cycles : 4).[0m ×2 + 6.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.737157 ms (missed cycles : 2). + 6.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.737157 ms (missed cycles : 2).[0m ×2 + 7.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.422742 ms (missed cycles : 6). + 7.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.422742 ms (missed cycles : 6).[0m ×2 + 7.88sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 7.88sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 7.89sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 8.18sINFOobjective_server_nodeFound path in 0 iterations (2.46e-07 s). ×2 + 8.18sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 8.19sINFOobjective_server_nodeFound path in 0 iterations (2.59e-07 s). ×2 + 8.20sINFOobjective_server_nodePath shortcutter: [X_______________X] ×2 + 8.21sINFOobjective_server_nodeFound path in 0 iterations (2.31e-07 s). ×2 + 8.30sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 8.32sINFOobjective_server_nodeFound path in 1 iterations (0.00354351 s). ×2 + 8.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.676587 ms (missed cycles : 5). + 8.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.676587 ms (missed cycles : 5).[0m ×2 + 8.50sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________________X__________________X] ×2 + 8.61sINFOros2_control_node[2026-11-05 21:06:48.946] [info] Received new action goal ×2 + 8.61sINFOros2_control_node[2026-11-05 21:06:48.946] [info] Accepted new action goal ×2 + 9.07sWARNros2_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 + 10.92sINFOros2_control_node[2026-11-05 21:06:51.249] [info] Received new action goal ×2 + 10.92sINFOros2_control_node[2026-11-05 21:06:51.249] [info] Accepted new action goal ×2 + 12.54sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 12.55sINFOros2_control_node[2026-11-05 21:06:52.880] [info] Received new action goal ×2 + 12.55sINFOros2_control_node[2026-11-05 21:06:52.880] [info] Accepted new action goal ×2 + 13.84sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1793912814.17648005 seconds ×3 + 14.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.38sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 14.46sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1793912814.79775167 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.56sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1793912814.88801265 seconds ×3 + 15.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 15.14sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 15.22sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1793912815.55013132 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.33sINFOobjective_server_nodeFound path in 0 iterations (3.09e-07 s). ×2 + 15.33sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 15.34sINFOros2_control_node[2026-11-05 21:06:55.675] [info] Received new action goal ×2 + 15.34sINFOros2_control_node[2026-11-05 21:06:55.675] [info] Accepted new action goal ×2 | ||||
| ✓ passed | Push Button | move_with_velocity_and_force.xml | 11.6s | 9 warnings · 826 info |
+ 0.00sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: velocity_force_controller ×6 + 0.00sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 0.00sINFOcontroller_managerDeactivating controllers: [ velocity_force_controller ] ×2 + 0.00sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 0.00sINFOcontroller_managerDeactivated controllers: [ velocity_force_controller ] ×2 + 0.00sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 0.00sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.00sINFOros2_control_nodeDeactivating controllers: [ velocity_force_controller ][0m ×4 + 0.00sINFOros2_control_nodeDeactivated controllers: [ velocity_force_controller ][0m ×4 + 0.00sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 0.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.88sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.89sINFOros2_control_node[2026-11-05 21:08:45.606] [info] Received new action goal ×2 + 0.89sINFOros2_control_node[2026-11-05 21:08:45.606] [info] Accepted new action goal ×2 + 2.05sINFOobjective_server_nodeObjective `Move Flasks to Burners` succeeded at time: 1793912926.76185966 seconds ×3 + 2.08sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.08sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.09sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.10sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.10sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.62sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Push Button"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.62sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.62sINFOobjective_server_nodeobjective_name: "Push Button" ×2 + 2.62sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.62sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.62sINFOobjective_server_nodecaller: ×4 + 2.62sINFOobjective_server_nodetype: 0 ×4 + 2.62sINFOobjective_server_nodename: "" ×4 + 2.62sINFOobjective_server_nodeinstance_id: "" ×4 + 2.62sINFOobjective_server_node ×4 + 2.83sINFOobjective_server_nodeObjective `Push Button` starting at time: 1793912927.54155660 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.75sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.85sINFOobjective_server_nodeFound path in 0 iterations (2.58e-07 s). ×2 + 3.87sINFOobjective_server_nodePath shortcutter: [X___________________________X] ×2 + 3.88sINFOros2_control_node[2026-11-05 21:08:48.596] [info] Received new action goal ×2 + 3.88sINFOros2_control_node[2026-11-05 21:08:48.596] [info] Accepted new action goal ×2 + 7.58sINFOobjective_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 + 7.58sINFOcontroller_managerActivating controllers: [ velocity_force_controller ] + 7.58sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 7.58sINFOros2_control_nodeActivating controllers: [ velocity_force_controller ][0m ×2 + 7.58sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 7.58sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 7.58sINFOcontroller_managerActivated controllers: [ velocity_force_controller ] + 7.58sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 7.58sINFOros2_control_nodeActivated controllers: [ velocity_force_controller ][0m ×2 + 10.00sINFOobjective_server_nodeFound path in 0 iterations (4.83e-07 s). ×2 + 10.01sINFOobjective_server_nodePath shortcutter: [X_________________________X] ×2 + 10.03sINFOros2_control_node[2026-11-05 21:08:54.739] [info] Received new action goal ×2 + 10.03sINFOros2_control_node[2026-11-05 21:08:54.739] [info] Accepted new action goal ×2 + 11.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.553411 ms (missed cycles : 4). + 11.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.553411 ms (missed cycles : 4).[0m ×2 + 13.63sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1793912938.34351254 seconds ×3 + 14.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.17sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample" ×2 + 14.25sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1793912938.95995760 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.40sINFOobjective_server_nodeFound path in 0 iterations (2.63e-07 s). ×2 + 14.40sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 14.41sINFOros2_control_node[2026-11-05 21:08:59.124] [info] Received new action goal ×2 + 14.41sINFOros2_control_node[2026-11-05 21:08:59.124] [info] Accepted new action goal ×2 + 15.68sINFOobjective_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 + 15.68sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 15.76sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 15.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 15.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 15.77sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 15.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.837250 ms (missed cycles : 2). + 15.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.837250 ms (missed cycles : 2).[0m ×2 + 16.44sINFOjoint_trajectory_controllerReceived new action goal ×101 + 16.44sINFOjoint_trajectory_controllerAccepted new action goal ×101 + 16.44sINFOros2_control_nodeReceived new action goal[0m ×202 + 16.44sINFOros2_control_nodeAccepted new action goal[0m ×202 + 17.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.996890 ms (missed cycles : 2). + 17.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.996890 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Take Wrist Camera Snapshot | wrist_snap.xml | 11.1s | 74 errors · 25 warnings · 439 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 0.00sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×8 + 0.00sINFOobjective_server_nodecaller: ×8 + 0.00sINFOobjective_server_nodetype: 0 ×8 + 0.00sINFOobjective_server_nodename: "" ×8 + 0.00sINFOobjective_server_nodeinstance_id: "" ×8 + 0.00sINFOobjective_server_node ×8 + 0.06sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1793913092.73120546 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.886127 ms (missed cycles : 4). + 0.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.886127 ms (missed cycles : 4).[0m ×2 + 1.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.187276 ms (missed cycles : 2). + 1.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.187276 ms (missed cycles : 2).[0m ×2 + 1.48sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.00 s). The render path has stopped producing new frames for them.[0m ×2 + 1.84sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1793913094.51140046 seconds ×3 + 1.84sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 1.84sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.84sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 1.84sINFOcontroller_managerSuccessfully switched controllers! ×6 + 1.84sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.84sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 1.85sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 1.85sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.85sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 1.85sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 1.85sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 1.85sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.873989 ms (missed cycles : 3). + 2.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.873989 ms (missed cycles : 3).[0m ×2 + 2.37sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.38sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 2.44sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1793913095.11086249 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.44sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 2.44sINFOobjective_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 + 2.44sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 2.44sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1793913095.11286211 seconds ×3 + 2.98sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.98sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 3.04sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1793913095.71611905 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.08sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1793913095.75711417 seconds ×3 + 3.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.71sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 3.78sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1793913096.45035529 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.987663 ms (missed cycles : 4). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.987663 ms (missed cycles : 4).[0m ×2 + 4.84sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1793913097.51051617 seconds ×3 + 4.88sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546453 ms (missed cycles : 3). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546453 ms (missed cycles : 3).[0m ×2 + 10.39sERRORweb_video_auth_proxy-25process[web_video_auth_proxy-25] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.39sERRORweb_bridge_auth_proxy-24process[web_bridge_auth_proxy-24] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.39sERRORvideo_server-23process[video_server-23] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.39sERRORtf2_web_republisher_node-22process[tf2_web_republisher_node-22] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.39sERRORjoint_state_visualization_relay-21process[joint_state_visualization_relay-21] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.40sERRORtf_visualization_relay-20process[tf_visualization_relay-20] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.40sERRORweb_bridge-19process[web_bridge-19] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.40sERRORui_teleop_bridge-18process[ui_teleop_bridge-18] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.40sERRORexecute_objective_bridge-17process[execute_objective_bridge-17] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.40sERRORcomponent_container_mt-16process[component_container_mt-16] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.40sERRORcomponent_container_mt-15process[component_container_mt-15] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.40sERRORobjective_server_node_main-14process[objective_server_node_main-14] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.40sERRORmove_end_effector_resampler_node-13process[move_end_effector_resampler_node-13] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.40sERRORmove_joint_resampler_node-12process[move_joint_resampler_node-12] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.40sERRORwaypoint_manager_node-11process[waypoint_manager_node-11] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.40sERRORparameter_manager_node-10process[parameter_manager_node-10] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.40sERRORmove_group-9process[move_group-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.40sERRORros2_control_node-1process[ros2_control_node-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.41sINFOweb_video_auth_proxy-25sending signal 'SIGTERM' to process[web_video_auth_proxy-25] ×2 + 10.41sINFOweb_bridge_auth_proxy-24sending signal 'SIGTERM' to process[web_bridge_auth_proxy-24] ×2 + 10.41sERRORweb_video_auth_proxy-25process has died [pid 8475, 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 + 10.41sINFOvideo_server-23sending signal 'SIGTERM' to process[video_server-23] ×2 + 10.42sERRORweb_bridge_auth_proxy-24process has died [pid 8474, 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 + 10.42sINFOtf2_web_republisher_node-22sending signal 'SIGTERM' to process[tf2_web_republisher_node-22] ×2 + 10.42sINFOjoint_state_visualization_relay-21sending signal 'SIGTERM' to process[joint_state_visualization_relay-21] ×2 + 10.43sINFOtf_visualization_relay-20sending signal 'SIGTERM' to process[tf_visualization_relay-20] ×2 + 10.43sINFOweb_bridge-19sending signal 'SIGTERM' to process[web_bridge-19] ×2 + 10.44sINFOui_teleop_bridge-18sending signal 'SIGTERM' to process[ui_teleop_bridge-18] ×2 + 10.44sINFOvideo_server-23process has finished cleanly [pid 8473] ×2 + 10.44sINFOexecute_objective_bridge-17sending signal 'SIGTERM' to process[execute_objective_bridge-17] ×2 + 10.45sINFOcomponent_container_mt-16sending signal 'SIGTERM' to process[component_container_mt-16] ×2 + 10.45sINFOcomponent_container_mt-15sending signal 'SIGTERM' to process[component_container_mt-15] ×2 + 10.45sINFOobjective_server_node_main-14sending signal 'SIGTERM' to process[objective_server_node_main-14] ×2 + 10.46sINFOmove_end_effector_resampler_node-13sending signal 'SIGTERM' to process[move_end_effector_resampler_node-13] ×2 + 10.46sINFOmove_joint_resampler_node-12sending signal 'SIGTERM' to process[move_joint_resampler_node-12] ×2 + 10.47sINFOwaypoint_manager_node-11sending signal 'SIGTERM' to process[waypoint_manager_node-11] ×2 + 10.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.806478 ms (missed cycles : 2). + 10.48sINFOparameter_manager_node-10sending signal 'SIGTERM' to process[parameter_manager_node-10] ×2 + 10.48sINFOmove_group-9sending signal 'SIGTERM' to process[move_group-9] ×2 + 10.49sINFOros2_control_node-1sending signal 'SIGTERM' to process[ros2_control_node-1] ×2 + 10.49sINFOcontroller_managerShutdown request received.... + 10.49sINFOcontroller_managerShutting down all controllers in the controller manager. + 10.49sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 10.49sINFOlaunchprocess[web_bridge_auth_proxy-24] was required: shutting down launched system ×2 + 10.49sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 10.49sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 10.49sINFOcontroller_managerDeactivating controller 'joint_trajectory_admittance_controller' + 10.49sINFOvideo_server2026/11/05 21:11:43 INF shutting down gracefully ×2 + 10.49sINFOcontroller_managerShutting down controller 'joint_trajectory_admittance_controller' + 10.49sINFOvideo_server2026/11/05 21:11:43 INF [WebRTC] closing ×2 + 10.49sINFOvideo_server2026/11/05 21:11:43 INF [RTSP] closing ×2 + 10.49sINFOvideo_server2026/11/05 21:11:43 INF waiting for running hooks ×2 + 10.49sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 10.49sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 10.49sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 10.49sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.49sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 10.49sINFOcontroller_managerDeactivating controller 'robotiq_gripper_controller' + 10.49sINFOcontroller_managerShutting down controller 'robotiq_gripper_controller' + 10.49sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.806478 ms (missed cycles : 2).[0m ×2 + 10.49sINFOcontroller_managerShutting down the controller manager. + 10.49sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' ×2 + 10.49sERRORmove_groupwhat(): context cannot be slept with because it's invalid ×2 + 10.49sERRORmove_groupStack trace (most recent call last) in thread 8870: ×2 + 10.49sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.49sINFOros2_control_nodeShutdown request received....[0m ×2 + 10.49sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m ×2 + 10.49sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m ×2 + 10.49sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×12 + 10.49sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m ×2 + 10.49sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m ×2 + 10.49sINFOros2_control_nodeDeactivating controller 'joint_trajectory_admittance_controller'[0m ×2 + 10.49sINFOros2_control_nodeShutting down controller 'joint_trajectory_admittance_controller'[0m ×2 + 10.49sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m ×2 + 10.49sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m ×2 + 10.50sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m ×2 + 10.50sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m ×2 + 10.50sINFOros2_control_nodeDeactivating controller 'robotiq_gripper_controller'[0m ×2 + 10.50sINFOros2_control_nodeShutting down controller 'robotiq_gripper_controller'[0m ×2 + 10.50sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m ×2 + 10.50sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m ×2 + 10.50sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m ×2 + 10.50sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m ×2 + 10.50sINFOros2_control_nodeShutting down the controller manager.[0m ×2 + 10.50sERRORros2_control_nodeException in publisher thread: context cannot be slept with because it's invalid!. Aborting![0m ×4 + 10.50sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 10.50sWARNparameter_manager_nodeROS node was shutdown. ×2 + 10.50sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f0b4d18ecc3, in __clone ×2 + 10.50sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f0b4d101b83, in ×2 + 10.50sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f0b4d392db3, in ×2 + 10.50sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so", at 0x7f0b4dafcd64, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() ×2 + 10.50sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f0b4d726620, in rclcpp::Rate::sleep() ×2 + 10.50sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f0b4d668d18, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) ×2 + 10.50sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f0b4d62a087, in ×2 + 10.50sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f0b4d361390, in __cxa_throw ×2 + 10.50sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f0b4d34ba54, in std::terminate() ×2 + 10.50sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f0b4d3610d9, in ×2 + 10.50sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f0b4d34bff4, in ×2 + 10.50sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f0b4d08d8fe, in abort ×2 + 10.50sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f0b4d0aa27d, in raise ×2 + 10.50sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f0b4d103c0c, in pthread_kill ×2 + 10.50sERRORmove_groupAborted (Signal sent by tkill() 8389 0) ×2 + 10.51sERRORmove_group-9process has died [pid 8389, exit code -6, cmd '/opt/overlay_ws/install/moveit_ros_move_group/lib/moveit_ros_move_group/move_group --ros-args --log-level error --ros-args --params-file /tmp/launch_params_c7byn3fd --params-file /tmp/launch_params_yscro_6_ --params-file /tmp/launch_params_08i8abeq --params-file /tmp/launch_params_bumrctwx --params-file /tmp/launch_params_o8p2v9vf --params-file /tmp/launch_params_dfk59la8']. ×2 + 10.68sINFOros2_control_nodeAsync messages lost 0[0m ×4 + 10.68sINFOros2_control_nodepublish_async_failures_ 0[0m ×4 + 11.46sERRORjoint_state_visualization_relayTraceback (most recent call last): ×2 + 11.46sINFOjoint_state_visualization_relayFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/joint_state_visualization_relay", line 33, in <module> ×2 + 11.46sINFOjoint_state_visualization_relaysys.exit(load_entry_point('moveit-studio-bridge==10.3.0', 'console_scripts', 'joint_state_visualization_relay')()) ×2 + 11.46sINFOjoint_state_visualization_relay^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 11.46sINFOjoint_state_visualization_relayFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/python3.12/site-packages/moveit_studio_bridge/joint_state_visualization_relay.py", line 95, in main ×2 + 11.46sINFOjoint_state_visualization_relayrclpy.spin(node) ×2 + 11.46sINFOjoint_state_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 11.46sINFOjoint_state_visualization_relayexecutor.spin_once() ×2 + 11.46sINFOjoint_state_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 11.46sINFOjoint_state_visualization_relayself._spin_once_impl(timeout_sec) ×2 + 11.46sINFOjoint_state_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 11.46sINFOjoint_state_visualization_relayhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 11.46sINFOjoint_state_visualization_relay^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 11.46sINFOjoint_state_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 11.46sINFOjoint_state_visualization_relayreturn next(self._cb_iter) ×2 + 11.46sINFOjoint_state_visualization_relay^^^^^^^^^^^^^^^^^^^ ×2 + 11.46sINFOjoint_state_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks ×2 + 11.46sINFOjoint_state_visualization_relayraise ExternalShutdownException() ×2 + 11.46sINFOjoint_state_visualization_relayrclpy.executors.ExternalShutdownException ×2 + 11.46sERRORtf_visualization_relayTraceback (most recent call last): ×2 + 11.46sINFOtf_visualization_relayFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/tf_visualization_relay", line 33, in <module> ×2 + 11.46sINFOtf_visualization_relaysys.exit(load_entry_point('moveit-studio-bridge==10.3.0', 'console_scripts', 'tf_visualization_relay')()) ×2 + 11.46sINFOtf_visualization_relay^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 11.46sINFOtf_visualization_relayFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/python3.12/site-packages/moveit_studio_bridge/tf_visualization_relay.py", line 123, in main ×2 + 11.46sINFOtf_visualization_relayrclpy.spin(node) ×2 + 11.46sINFOtf_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 11.46sINFOtf_visualization_relayexecutor.spin_once() ×2 + 11.46sINFOtf_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 11.46sINFOtf_visualization_relayself._spin_once_impl(timeout_sec) ×2 + 11.46sINFOtf_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 11.46sINFOtf_visualization_relayhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 11.46sINFOtf_visualization_relay^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 11.46sINFOtf_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 11.47sINFOtf_visualization_relayreturn next(self._cb_iter) ×2 + 11.47sINFOtf_visualization_relay^^^^^^^^^^^^^^^^^^^ ×2 + 11.47sINFOtf_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks ×2 + 11.47sINFOtf_visualization_relayraise ExternalShutdownException() ×2 + 11.47sINFOtf_visualization_relayrclpy.executors.ExternalShutdownException ×2 + 11.47sINFOtf2_web_republisher_node-22process has finished cleanly [pid 8472] ×2 + 11.47sINFOlaunchprocess[tf2_web_republisher_node-22] was required: shutting down launched system ×2 + 11.51sINFOmove_end_effector_resampler_node-13process has finished cleanly [pid 8393] ×2 + 11.51sERRORjoint_state_visualization_relay-21process has died [pid 8471, 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_cmzor6f0']. ×2 + 11.51sINFOlaunchprocess[joint_state_visualization_relay-21] was required: shutting down launched system ×2 + 11.51sINFOmove_joint_resampler_node-12process has finished cleanly [pid 8392] ×2 + 11.53sERRORtf_visualization_relay-20process has died [pid 8469, exit code 1, cmd '/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/tf_visualization_relay --ros-args --params-file /tmp/launch_params_6afeesa_']. ×2 + 11.53sINFOlaunchprocess[tf_visualization_relay-20] was required: shutting down launched system ×2 + 11.55sINFOparameter_manager_node-10process has finished cleanly [pid 8390] ×2 + 11.55sINFOwaypoint_manager_node-11process has finished cleanly [pid 8391] ×2 + 11.55sINFOui_teleop_bridge-18process has finished cleanly [pid 8398] ×2 + 11.56sINFOexecute_objective_bridge-17process has finished cleanly [pid 8397] ×2 + 11.61sINFOcomponent_container_mt-16process has finished cleanly [pid 8396] ×2 + 11.63sINFOobjective_server_node[0;m[2026-11-05 21:11:44.301] [moveit_pro_license] [info] ×2 + 11.63sINFOobjective_server_node************************************************* ×4 + 11.63sINFOobjective_server_node* MoveIt Pro License ×2 + 11.63sINFOobjective_server_node* Application has successfully terminated ×2 + 11.87sINFOobjective_server_node_main-14process has finished cleanly [pid 8394] ×2 + 11.87sINFOlaunchprocess[objective_server_node_main-14] was required: shutting down launched system ×2 + 12.64sINFOcomponent_container_mt-15process has finished cleanly [pid 8395] ×2 + 12.68sINFOweb_bridge-19process has finished cleanly [pid 8399] ×2 + 12.68sINFOlaunchprocess[web_bridge-19] was required: shutting down launched system ×2 + 13.14sINFOros2_control_node-1process has finished cleanly [pid 8340] ×2 | ||||
| ✓ passed | Stationary Admittance | stationary_admittance.xml | 11.1s | 3 errors · 17 warnings · 340 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.01% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.58sINFOobjective_server_nodeObjective `Record Surface Coverage Demo` succeeded at time: 1793913079.47151542 seconds ×3 + 1.68sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×7 + 1.68sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×14 + 1.68sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 1.68sINFOcontroller_managerSuccessfully switched controllers! ×14 + 1.68sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 1.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 1.69sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 1.69sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×7 + 1.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×14 + 1.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×7 + 1.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×14 + 2.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.22sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.22sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 2.22sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.22sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.22sINFOobjective_server_nodecaller: ×10 + 2.22sINFOobjective_server_nodetype: 0 ×10 + 2.22sINFOobjective_server_nodename: "" ×10 + 2.22sINFOobjective_server_nodeinstance_id: "" ×10 + 2.22sINFOobjective_server_node ×10 + 2.44sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1793913080.32983279 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.48sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.48sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.50sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.50sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.739311 ms (missed cycles : 3). + 2.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.739311 ms (missed cycles : 3).[0m ×2 + 2.52sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1793913080.40999460 seconds ×3 + 3.06sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.06sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 3.12sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1793913081.01453948 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.14sINFOobjective_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 + 3.14sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1793913081.03606725 seconds ×3 + 3.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.78sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 3.85sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1793913081.73876190 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.86sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.95sINFOobjective_server_nodeFound path in 0 iterations (2.89e-07 s). ×2 + 3.95sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 3.96sINFOros2_control_node[2026-11-05 21:11:21.853] [info] Received new action goal ×2 + 3.96sINFOros2_control_node[2026-11-05 21:11:21.853] [info] Accepted new action goal ×2 + 7.26sINFOobjective_server_nodeLogMessage Info: Running admittance mode for 10 seconds ×3 + 7.26sINFOros2_control_node[2026-11-05 21:11:25.152] [info] Received new action goal ×2 + 7.26sINFOros2_control_node[2026-11-05 21:11:25.152] [info] Accepted new action goal ×2 + 7.26sINFOros2_control_node[2026-11-05 21:11:25.152] [info] Goal path tolerance override provided: 10, 10, 10, 10, 10, 10, 10 ×2 + 14.23sINFOobjective_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 + 14.24sINFOros2_control_node[2026-11-05 21:11:32.129] [info] Got request to cancel active goal. ×2 + 14.24sINFOros2_control_node[2026-11-05 21:11:32.129] [info] Canceling active goal... ×2 + 14.24sERRORobjective_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: 1793913092.13343644 seconds ×3 + 14.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.78sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 14.84sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1793913092.73120546 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.886127 ms (missed cycles : 4). + 14.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.886127 ms (missed cycles : 4).[0m ×2 + 16.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.187276 ms (missed cycles : 2). + 16.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.187276 ms (missed cycles : 2).[0m ×2 + 16.27sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.00 s). The render path has stopped producing new frames for them.[0m ×2 + 16.62sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1793913094.51140046 seconds ×3 + 17.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.873989 ms (missed cycles : 3). + 17.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.873989 ms (missed cycles : 3).[0m ×2 + 17.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 17.16sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 17.22sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1793913095.11086249 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 17.22sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 17.22sINFOobjective_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 + 17.22sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 17.22sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1793913095.11286211 seconds ×3 | ||||
| ✓ passed | Pick April Tag Labeled Object With Approval | pick_april_tag_object_with_approval.xml | 11.1s | 15 warnings · 2376 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×363 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×363 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×726 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×726 + 1.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.971261 ms (missed cycles : 2). + 1.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.971261 ms (missed cycles : 2).[0m ×2 + 2.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.816140 ms (missed cycles : 2). + 2.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.816140 ms (missed cycles : 2).[0m ×2 + 3.32sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1793912990.95892644 seconds ×3 + 3.32sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.32sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.33sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.33sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.42sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.42sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.42sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.42sINFOcontroller_managerSuccessfully switched controllers! ×5 + 3.43sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.43sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 3.43sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.43sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.44sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.44sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object With Approval"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.96sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.96sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.96sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.96sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.96sINFOobjective_server_nodecaller: ×4 + 3.96sINFOobjective_server_nodetype: 0 ×4 + 3.96sINFOobjective_server_nodename: "" ×4 + 3.96sINFOobjective_server_nodeinstance_id: "" ×4 + 3.96sINFOobjective_server_node ×4 + 4.06sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1793912991.70312858 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.07sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 4.07sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 4.16sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.16sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.16sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.16sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.16sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.16sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.16sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.16sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.16sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.25sINFOobjective_server_nodeFound path in 0 iterations (2.82e-07 s). ×2 + 4.25sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.26sINFOros2_control_node[2026-11-05 21:09:51.897] [info] Received new action goal ×2 + 4.26sINFOros2_control_node[2026-11-05 21:09:51.897] [info] Accepted new action goal ×2 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.207690 ms (missed cycles : 4). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.207690 ms (missed cycles : 4).[0m ×2 + 7.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.230147 ms (missed cycles : 8). + 7.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.230147 ms (missed cycles : 8).[0m ×2 + 7.62sINFOobjective_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 + 7.63sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 7.90sINFOobjective_server_nodeFound path in 0 iterations (2.98e-07 s). ×2 + 7.91sINFOobjective_server_nodePath shortcutter: [X_________X] ×4 + 7.91sINFOobjective_server_nodeFound path in 0 iterations (1.69e-07 s). ×2 + 7.92sINFOobjective_server_nodePath shortcutter: [X_______________X] ×2 + 7.93sINFOobjective_server_nodeFound path in 0 iterations (2.58e-07 s). ×2 + 8.02sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 8.04sINFOobjective_server_nodeFound path in 1 iterations (0.00459448 s). ×2 + 8.19sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________________X__________________X] ×2 + 8.25sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×3 + 8.25sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 8.26sINFOros2_control_node[2026-11-05 21:09:55.900] [info] Received new action goal ×2 + 8.26sINFOros2_control_node[2026-11-05 21:09:55.901] [info] Accepted new action goal ×2 + 8.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.794192 ms (missed cycles : 2). + 8.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.794192 ms (missed cycles : 2).[0m ×2 + 10.57sINFOros2_control_node[2026-11-05 21:09:58.203] [info] Received new action goal ×2 + 10.57sINFOros2_control_node[2026-11-05 21:09:58.203] [info] Accepted new action goal ×2 + 12.23sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 12.24sINFOros2_control_node[2026-11-05 21:09:59.877] [info] Received new action goal ×2 + 12.24sINFOros2_control_node[2026-11-05 21:09:59.877] [info] Accepted new action goal ×2 + 13.54sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1793913001.17342687 seconds ×3 + 14.52sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 14.52sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 14.53sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 14.54sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 14.54sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 14.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 15.06sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 15.06sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 15.15sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1793913002.79057908 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.32sINFOobjective_server_nodeFound path in 0 iterations (2.32e-07 s). ×2 + 15.33sINFOros2_control_node[2026-11-05 21:10:02.964] [info] Received new action goal ×2 + 15.33sINFOros2_control_node[2026-11-05 21:10:02.964] [info] Accepted new action goal ×2 + 17.24sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| ✓ passed | Grasp Pose Tuning With April Tag | grasp_pose_tuning_with_april_tag.xml | 11.0s | 9 errors · 20 warnings · 193 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (2.57e-07 s). ×2 + 0.09sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.10sINFOros2_control_node[2026-11-05 21:07:03.812] [info] Received new action goal ×2 + 0.10sINFOros2_control_node[2026-11-05 21:07:03.812] [info] Accepted new action goal ×2 + 1.92sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.92sINFOros2_control_node[2026-11-05 21:07:05.630] [info] Got request to cancel active goal. ×2 + 1.92sINFOros2_control_node[2026-11-05 21:07:05.630] [info] Canceling active goal... ×2 + 1.93sERRORobjective_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: 1793912825.64321160 seconds ×3 + 1.97sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.97sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.97sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.97sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.97sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.97sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.98sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.98sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.98sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.98sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.98sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.98sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.50sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.50sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.50sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.50sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.50sINFOobjective_server_nodecaller: ×4 + 2.50sINFOobjective_server_nodetype: 0 ×4 + 2.50sINFOobjective_server_nodename: "" ×4 + 2.50sINFOobjective_server_nodeinstance_id: "" ×4 + 2.50sINFOobjective_server_node ×4 + 2.58sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1793912826.29229426 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.58sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.58sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694230 ms (missed cycles : 2). + 2.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694230 ms (missed cycles : 2).[0m ×2 + 2.77sINFOobjective_server_nodeFound path in 0 iterations (3.45e-07 s). ×2 + 2.77sINFOobjective_server_nodePath shortcutter: [X_______X] ×4 + 2.78sINFOros2_control_node[2026-11-05 21:07:06.486] [info] Received new action goal ×2 + 2.78sINFOros2_control_node[2026-11-05 21:07:06.486] [info] Accepted new action goal ×2 + 4.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.392820 ms (missed cycles : 2). + 4.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.392820 ms (missed cycles : 2).[0m ×2 + 5.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.485432 ms (missed cycles : 2). + 5.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.485432 ms (missed cycles : 2).[0m ×2 + 6.42sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 6.42sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 6.43sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 6.66sWARNros2_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 + 6.71sINFOobjective_server_nodeFound path in 0 iterations (2.43e-07 s). ×2 + 6.71sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 6.71sINFOobjective_server_nodeFound path in 0 iterations (2.35e-07 s). ×2 + 6.72sINFOobjective_server_nodePath shortcutter: [X_______________X] ×2 + 6.73sINFOobjective_server_nodeFound path in 0 iterations (1.94e-07 s). ×2 + 6.76sINFOobjective_server_nodePath shortcutter: [X_________________________________X] ×2 + 6.78sINFOobjective_server_nodeFound path in 0 iterations (1.95e-07 s). ×2 + 6.85sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 6.87sINFOobjective_server_nodeFound path in 5 iterations (0.00529889 s). ×2 + 6.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.316313 ms (missed cycles : 7). + 6.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.316313 ms (missed cycles : 7).[0m ×2 + 6.98sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________X_X______________________X] ×2 + 7.00sINFOobjective_server_nodeFound path in 0 iterations (3.29e-07 s). ×2 + 7.10sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X] ×2 + 7.12sINFOobjective_server_nodeFound path in 0 iterations (2.53e-07 s). ×2 + 7.28sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X] ×2 + 7.31sINFOobjective_server_nodeFound path in 0 iterations (5.18e-07 s). ×2 + 7.45sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________X] ×2 + 7.59sINFOros2_control_node[2026-11-05 21:07:11.299] [info] Received new action goal ×2 + 7.59sINFOros2_control_node[2026-11-05 21:07:11.299] [info] Accepted new action goal ×2 + 9.85sINFOparameter_manager_nodeRetrieving pose from parameter manager. ×3 + 10.12sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal. + 10.12sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal.[0m ×2 + 10.12sERRORobjective_server_nodeDoTeleoperateAction Error: Failed to send goal request to action server 'do_teleoperate': Goal request was rejected by the action server ×3 + 10.15sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Tuning With April Tag` did not succeed at time: 1793912833.86430216 seconds ×3 + 10.15sINFOobjective_server_nodeObjective failure records are not written: /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/lab_sim/test_results/lab_sim/ros_logs/moveit_pro_runs/latest does not name a run started by `moveit_pro run`. ×3 + 13.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Using Yaml"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 13.58sINFOobjective_server_nodeobjective_name: "Grasp Pose Using Yaml" ×2 + 13.69sINFOobjective_server_nodeObjective `Grasp Pose Using Yaml` starting at time: 1793912837.40596962 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 13.88sINFOobjective_server_nodeFound path in 0 iterations (3.98e-07 s). ×2 + 13.90sINFOros2_control_node[2026-11-05 21:07:17.610] [info] Received new action goal ×2 + 13.90sINFOros2_control_node[2026-11-05 21:07:17.610] [info] Accepted new action goal ×2 + 14.17sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 16.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.411878 ms (missed cycles : 4). + 16.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.411878 ms (missed cycles : 4).[0m ×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: 1793912833.86430216 seconds ×3 + 0.30sINFOobjective_server_nodeObjective failure records are not written: /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/lab_sim/test_results/lab_sim/ros_logs/moveit_pro_runs/latest does not name a run started by `moveit_pro run`. ×3 + 3.17sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.17sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.17sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.17sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.17sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.17sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.17sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.18sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.18sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Using Yaml"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.72sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.72sINFOobjective_server_nodeobjective_name: "Grasp Pose Using Yaml" ×2 + 3.72sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.72sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.72sINFOobjective_server_nodecaller: ×4 + 3.72sINFOobjective_server_nodetype: 0 ×4 + 3.73sINFOobjective_server_nodename: "" ×4 + 3.73sINFOobjective_server_nodeinstance_id: "" ×4 + 3.73sINFOobjective_server_node ×4 + 3.84sINFOobjective_server_nodeObjective `Grasp Pose Using Yaml` starting at time: 1793912837.40596962 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.85sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 3.85sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 3.93sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 4.03sINFOobjective_server_nodeFound path in 0 iterations (3.98e-07 s). ×2 + 4.03sINFOobjective_server_nodePath shortcutter: [X_______X] ×4 + 4.05sINFOros2_control_node[2026-11-05 21:07:17.610] [info] Received new action goal ×2 + 4.05sINFOros2_control_node[2026-11-05 21:07:17.610] [info] Accepted new action goal ×2 + 4.32sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.411878 ms (missed cycles : 4). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.411878 ms (missed cycles : 4).[0m ×2 + 7.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.537015 ms (missed cycles : 5). + 7.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.537015 ms (missed cycles : 5).[0m ×2 + 8.13sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 8.13sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 8.13sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 8.40sINFOobjective_server_nodeFound path in 0 iterations (2.52e-07 s). ×2 + 8.40sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 8.41sINFOobjective_server_nodeFound path in 0 iterations (2.13e-07 s). ×2 + 8.41sINFOobjective_server_nodePath shortcutter: [X_______________X] ×2 + 8.42sINFOobjective_server_nodeFound path in 0 iterations (2.24e-07 s). ×2 + 8.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.032984 ms (missed cycles : 5). + 8.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.032984 ms (missed cycles : 5).[0m ×2 + 8.45sINFOobjective_server_nodePath shortcutter: [X_________________________________X] ×2 + 8.47sINFOobjective_server_nodeFound path in 0 iterations (2.97e-07 s). ×2 + 8.55sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 8.57sINFOobjective_server_nodeFound path in 1 iterations (0.00364772 s). ×2 + 8.70sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________X___________________________X] ×2 + 8.72sINFOobjective_server_nodeFound path in 0 iterations (3.12e-07 s). ×2 + 8.82sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X] ×4 + 8.83sINFOobjective_server_nodeFound path in 0 iterations (2.33e-07 s). ×2 + 8.99sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X] ×2 + 9.00sINFOobjective_server_nodeFound path in 0 iterations (2.36e-07 s). ×2 + 9.15sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________X] ×2 + 9.29sINFOros2_control_node[2026-11-05 21:07:22.853] [info] Received new action goal ×2 + 9.29sINFOros2_control_node[2026-11-05 21:07:22.853] [info] Accepted new action goal ×2 + 11.82sINFOobjective_server_nodeFound path in 0 iterations (2.74e-07 s). ×2 + 11.82sINFOobjective_server_nodePath shortcutter: [X__X] ×2 + 11.82sINFOobjective_server_nodeFound path in 0 iterations (1.96e-07 s). ×2 + 11.83sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 11.84sINFOobjective_server_nodeFound path in 0 iterations (1.83e-07 s). ×2 + 11.97sINFOobjective_server_nodeFound path in 1 iterations (0.00460083 s). ×2 + 12.14sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________________________X_________________X] ×2 + 12.21sINFOros2_control_node[2026-11-05 21:07:25.772] [info] Received new action goal ×2 + 12.21sINFOros2_control_node[2026-11-05 21:07:25.772] [info] Accepted new action goal ×2 + 12.64sINFOros2_control_node[2026-11-05 21:07:26.204] [info] Received new action goal ×2 + 12.64sINFOros2_control_node[2026-11-05 21:07:26.204] [info] Accepted new action goal ×2 + 14.16sINFOobjective_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 + 14.17sINFOrobotiq_gripper_controllerGot request to cancel goal + 14.17sINFOrobotiq_gripper_controllerCanceling active action goal because cancel callback received. + 14.17sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 14.17sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 14.21sERRORobjective_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: 1793912847.76966691 seconds ×3 + 14.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Live Surface Coverage Demo"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.89sINFOobjective_server_nodeobjective_name: "Live Surface Coverage Demo" ×2 + 15.02sINFOobjective_server_nodeObjective `Live Surface Coverage Demo` starting at time: 1793912848.58027005 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.03sINFOobjective_server_nodeFound path in 0 iterations (3.02e-07 s). ×2 + 16.04sINFOros2_control_node[2026-11-05 21:07:29.604] [info] Received new action goal ×2 + 16.04sINFOros2_control_node[2026-11-05 21:07:29.604] [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: 1793913023.65862250 seconds ×3 + 0.01sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 0.01sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 0.01sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×4 + 0.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 0.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 0.01sINFOros2_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 + 0.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 0.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 0.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Record and Replay Scanning Motion"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.54sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.54sINFOobjective_server_nodeobjective_name: "Record and Replay Scanning Motion" ×2 + 0.54sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.54sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.54sINFOobjective_server_nodecaller: ×4 + 0.54sINFOobjective_server_nodetype: 0 ×4 + 0.54sINFOobjective_server_nodename: "" ×4 + 0.54sINFOobjective_server_nodeinstance_id: "" ×4 + 0.54sINFOobjective_server_node ×4 + 0.61sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1793913024.27311492 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.63sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.72sINFOobjective_server_nodeFound path in 0 iterations (3.69e-07 s). ×2 + 0.73sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 0.74sINFOros2_control_node[2026-11-05 21:10:24.397] [info] Received new action goal ×2 + 0.74sINFOros2_control_node[2026-11-05 21:10:24.397] [info] Accepted new action goal ×2 + 2.65sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 10.97sINFOobjective_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 + 10.97sERRORobjective_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: 1793913034.63347721 seconds ×3 + 11.52sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Record Square Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 11.52sINFOobjective_server_nodeobjective_name: "Record Square Trajectory" ×2 + 11.59sINFOobjective_server_nodeObjective `Record Square Trajectory` starting at time: 1793913035.25286770 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 11.74sINFOobjective_server_nodeFound path in 0 iterations (2.71e-07 s). ×2 + 11.75sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 11.76sINFOros2_control_node[2026-11-05 21:10:35.419] [info] Received new action goal ×2 + 11.76sINFOros2_control_node[2026-11-05 21:10:35.419] [info] Accepted new action goal ×2 | ||||
| ✓ passed | Plan and Save Trajectory | plan_and_save_trajectory.xml | 11.0s | 3 errors · 135 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[2026-11-05 21:09:59.877] [info] Received new action goal ×2 + 0.37sINFOros2_control_node[2026-11-05 21:09:59.877] [info] Accepted new action goal ×2 + 1.67sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1793913001.17342687 seconds ×3 + 2.66sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.66sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.66sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.66sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.66sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.66sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.67sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.67sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.67sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.67sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.67sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.19sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.19sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.19sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.19sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.19sINFOobjective_server_nodecaller: ×4 + 3.19sINFOobjective_server_nodetype: 0 ×4 + 3.19sINFOobjective_server_nodename: "" ×4 + 3.19sINFOobjective_server_nodeinstance_id: "" ×4 + 3.19sINFOobjective_server_node ×4 + 3.28sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1793913002.79057908 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.36sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.45sINFOobjective_server_nodeFound path in 0 iterations (2.32e-07 s). ×2 + 3.45sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.46sINFOros2_control_node[2026-11-05 21:10:02.964] [info] Received new action goal ×2 + 3.46sINFOros2_control_node[2026-11-05 21:10:02.964] [info] Accepted new action goal ×2 + 5.37sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 13.62sINFOobjective_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 + 13.62sERRORobjective_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: 1793913013.13104200 seconds ×3 + 14.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Playback Square Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.19sINFOobjective_server_nodeobjective_name: "Playback Square Trajectory" ×2 + 14.25sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1793913013.76013637 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.54sINFOobjective_server_nodeFound path in 0 iterations (4.29e-07 s). ×2 + 14.55sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 14.56sINFOros2_control_node[2026-11-05 21:10:14.065] [info] Received new action goal ×2 + 14.56sINFOros2_control_node[2026-11-05 21:10:14.065] [info] Accepted new action goal ×2 | ||||
| ✓ passed | 3 Waypoints Pick and Place | 3_waypoint_pick_and_place.xml | 10.9s | 3 errors · 3 warnings · 426 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793912776.86634350 seconds ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.03sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.56sINFOobjective_server_nodeReceived /do_objective goal: ×12 + 0.56sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.56sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 0.56sINFOobjective_server_nodeparameter_overrides: [] ×12 + 0.56sINFOobjective_server_nodecaller: ×12 + 0.56sINFOobjective_server_nodetype: 0 ×12 + 0.56sINFOobjective_server_nodename: "" ×12 + 0.56sINFOobjective_server_nodeinstance_id: "" ×12 + 0.56sINFOobjective_server_node ×12 + 0.61sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793912777.48105383 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 + 0.67sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793912777.54122686 seconds ×3 + 1.02sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.28sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.34sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793912778.20602131 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.36sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793912778.22618771 seconds ×3 + 1.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.90sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793912778.82100129 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793912778.97153234 seconds ×3 + 2.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.74sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.79sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793912779.66099024 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.81sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.81sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.82sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.82sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.82sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.461359 ms (missed cycles : 3). + 2.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.461359 ms (missed cycles : 3).[0m ×2 + 2.84sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793912779.71114635 seconds ×3 + 3.46sINFOobjective_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: 1793912780.43706203 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.58sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.58sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.58sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.58sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.58sINFOros2_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 + 3.70sINFOobjective_server_nodeFound path in 0 iterations (2.0724e-05 s). ×2 + 3.70sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 3.71sINFOros2_control_node[2026-11-05 21:06:20.573] [info] Received new action goal ×2 + 3.71sINFOros2_control_node[2026-11-05 21:06:20.573] [info] Accepted new action goal ×2 + 6.10sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×15 + 6.21sINFOobjective_server_nodeFound path in 0 iterations (3.11e-07 s). ×2 + 6.22sINFOobjective_server_nodePath shortcutter: [X___________________X] ×4 + 6.23sINFOros2_control_node[2026-11-05 21:06:23.093] [info] Received new action goal ×2 + 6.23sINFOros2_control_node[2026-11-05 21:06:23.093] [info] Accepted new action goal ×2 + 9.86sINFOobjective_server_nodeFound path in 0 iterations (2.44e-07 s). ×2 + 9.89sINFOros2_control_node[2026-11-05 21:06:26.751] [info] Received new action goal ×2 + 9.89sINFOros2_control_node[2026-11-05 21:06:26.751] [info] Accepted new action goal ×2 + 13.19sINFOobjective_server_nodeFound path in 0 iterations (2.48e-07 s). ×2 + 13.20sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 13.22sINFOros2_control_node[2026-11-05 21:06:30.082] [info] Received new action goal ×2 + 13.22sINFOros2_control_node[2026-11-05 21:06:30.082] [info] Accepted new action goal ×2 + 13.86sINFOobjective_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 + 13.86sINFOros2_control_node[2026-11-05 21:06:30.727] [info] Got request to cancel active goal. ×2 + 13.86sINFOros2_control_node[2026-11-05 21:06:30.727] [info] Canceling active goal... ×2 + 13.88sERRORobjective_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: 1793912790.74440670 seconds ×3 + 13.88sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 13.88sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 13.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 13.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 13.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 13.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 14.42sINFOobjective_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: ""
+ 14.42sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place with AprilTags" ×2 + 14.52sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place with AprilTags` starting at time: 1793912791.38148975 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.76sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×2 + 14.77sINFOros2_control_node[2026-11-05 21:06:31.635] [info] Received new action goal ×2 + 14.77sINFOros2_control_node[2026-11-05 21:06:31.635] [info] Accepted new action goal ×2 + 17.03sINFOobjective_server_nodeFound path in 0 iterations (2.32e-07 s). ×2 + 17.04sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 17.05sINFOros2_control_node[2026-11-05 21:06:33.915] [info] Received new action goal ×2 + 17.05sINFOros2_control_node[2026-11-05 21:06:33.915] [info] Accepted new action goal ×2 | ||||
| ✓ passed | 3 Waypoints Pick and Place with AprilTags | 3_waypoint_pick_and_place_apriltags.xml | 10.9s | 6 errors · 22 warnings · 204 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (2.48e-07 s). ×2 + 0.10sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 0.11sINFOros2_control_node[2026-11-05 21:06:30.082] [info] Received new action goal ×2 + 0.11sINFOros2_control_node[2026-11-05 21:06:30.082] [info] Accepted new action goal ×2 + 0.76sINFOobjective_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 + 0.76sINFOros2_control_node[2026-11-05 21:06:30.727] [info] Got request to cancel active goal. ×2 + 0.76sINFOros2_control_node[2026-11-05 21:06:30.727] [info] Canceling active goal... ×2 + 0.78sERRORobjective_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: 1793912790.74440670 seconds ×3 + 0.78sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 0.78sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 0.78sINFOcontroller_managerSuccessfully switched controllers! ×6 + 0.78sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 0.78sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 0.78sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 0.78sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 0.79sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.79sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 0.79sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 0.79sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 0.79sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 1.31sINFOobjective_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: ""
+ 1.31sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 1.31sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place with AprilTags" ×2 + 1.31sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 1.31sINFOobjective_server_nodeparameter_overrides: [] ×6 + 1.31sINFOobjective_server_nodecaller: ×6 + 1.31sINFOobjective_server_nodetype: 0 ×6 + 1.31sINFOobjective_server_nodename: "" ×6 + 1.31sINFOobjective_server_nodeinstance_id: "" ×6 + 1.31sINFOobjective_server_node ×6 + 1.41sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place with AprilTags` starting at time: 1793912791.38148975 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.65sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×2 + 1.66sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 1.67sINFOros2_control_node[2026-11-05 21:06:31.635] [info] Received new action goal ×2 + 1.67sINFOros2_control_node[2026-11-05 21:06:31.635] [info] Accepted new action goal ×2 + 3.75sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.75sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.93sINFOobjective_server_nodeFound path in 0 iterations (2.32e-07 s). ×2 + 3.93sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 3.95sINFOros2_control_node[2026-11-05 21:06:33.915] [info] Received new action goal ×2 + 3.95sINFOros2_control_node[2026-11-05 21:06:33.915] [info] Accepted new action goal ×2 + 7.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.222072 ms (missed cycles : 5). + 7.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.222072 ms (missed cycles : 5).[0m ×2 + 7.89sWARNros2_control_nodeCamera render tick took 1.34 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 8.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.159139 ms (missed cycles : 5). + 8.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.159139 ms (missed cycles : 5).[0m ×2 + 10.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.467540 ms (missed cycles : 6). + 10.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.467540 ms (missed cycles : 6).[0m ×2 + 10.39sWARNros2_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 + 11.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.337379 ms (missed cycles : 4). + 11.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.337379 ms (missed cycles : 4).[0m ×2 + 11.66sERRORobjective_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: 1793912801.63212109 seconds ×3 + 12.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 12.22sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 12.28sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1793912802.25271869 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 12.41sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1793912802.38288856 seconds ×3 + 12.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.765359 ms (missed cycles : 2). + 12.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.765359 ms (missed cycles : 2).[0m ×2 + 13.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 13.04sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 13.11sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1793912803.07518196 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 13.29sINFOobjective_server_nodeFound path in 0 iterations (4.14e-07 s). ×2 + 13.29sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 13.30sINFOros2_control_node[2026-11-05 21:06:43.270] [info] Received new action goal ×2 + 13.30sINFOros2_control_node[2026-11-05 21:06:43.270] [info] Accepted new action goal ×2 + 15.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.236971 ms (missed cycles : 4). + 15.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.236971 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Cycle Between Waypoints | cycle_between_waypoints.xml | 10.7s | 3 errors · 6 warnings · 222 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.32sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.33sINFOros2_control_node[2026-11-05 21:06:52.880] [info] Received new action goal ×2 + 0.33sINFOros2_control_node[2026-11-05 21:06:52.880] [info] Accepted new action goal ×2 + 1.63sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1793912814.17648005 seconds ×3 + 1.63sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 1.63sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 1.63sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.63sINFOcontroller_managerSuccessfully switched controllers! ×6 + 1.63sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.63sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 1.64sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 1.64sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.64sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 1.64sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 1.65sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 1.65sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.17sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.17sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.17sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.17sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.17sINFOobjective_server_nodecaller: ×6 + 2.17sINFOobjective_server_nodetype: 0 ×6 + 2.17sINFOobjective_server_nodename: "" ×6 + 2.17sINFOobjective_server_nodeinstance_id: "" ×6 + 2.17sINFOobjective_server_node ×6 + 2.25sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1793912814.79775167 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.34sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1793912814.88801265 seconds ×3 + 2.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.92sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.00sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1793912815.55013132 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.01sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×15 + 3.11sINFOobjective_server_nodeFound path in 0 iterations (3.09e-07 s). ×2 + 3.12sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.13sINFOros2_control_node[2026-11-05 21:06:55.675] [info] Received new action goal ×2 + 3.13sINFOros2_control_node[2026-11-05 21:06:55.675] [info] Accepted new action goal ×2 + 6.57sINFOobjective_server_nodeFound path in 0 iterations (3.35e-07 s). ×2 + 6.57sINFOobjective_server_nodePath shortcutter: [X________X] ×6 + 6.58sINFOros2_control_node[2026-11-05 21:06:59.124] [info] Received new action goal ×2 + 6.58sINFOros2_control_node[2026-11-05 21:06:59.124] [info] Accepted new action goal ×2 + 8.91sINFOobjective_server_nodeFound path in 0 iterations (2.87e-07 s). ×2 + 8.91sINFOros2_control_node[2026-11-05 21:07:01.462] [info] Received new action goal ×2 + 8.91sINFOros2_control_node[2026-11-05 21:07:01.462] [info] Accepted new action goal ×2 + 11.25sINFOobjective_server_nodeFound path in 0 iterations (2.57e-07 s). ×2 + 11.26sINFOros2_control_node[2026-11-05 21:07:03.812] [info] Received new action goal ×2 + 11.26sINFOros2_control_node[2026-11-05 21:07:03.812] [info] Accepted new action goal ×2 + 13.08sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 13.08sINFOros2_control_node[2026-11-05 21:07:05.630] [info] Got request to cancel active goal. ×2 + 13.08sINFOros2_control_node[2026-11-05 21:07:05.630] [info] Canceling active goal... ×2 + 13.09sERRORobjective_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: 1793912825.64321160 seconds ×3 + 13.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 13.67sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 13.74sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1793912826.29229426 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 13.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694230 ms (missed cycles : 2). + 13.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694230 ms (missed cycles : 2).[0m ×2 + 13.93sINFOobjective_server_nodeFound path in 0 iterations (3.45e-07 s). ×2 + 13.93sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 13.94sINFOros2_control_node[2026-11-05 21:07:06.486] [info] Received new action goal ×2 + 13.94sINFOros2_control_node[2026-11-05 21:07:06.486] [info] Accepted new action goal ×2 + 16.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.392820 ms (missed cycles : 2). + 16.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.392820 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Playback Square Trajectory | playback_square_trajectory.xml | 10.5s | 3 errors · 131 info |
+ 0.00sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.00sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan and Save Trajectory` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1793913013.13104200 seconds ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 0.04sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 0.04sINFOcontroller_managerSuccessfully switched controllers! ×4 + 0.04sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×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 + 0.05sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 0.05sINFOros2_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: 1793913013.76013637 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.81sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.92sINFOobjective_server_nodeFound path in 0 iterations (4.29e-07 s). ×2 + 0.93sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 0.94sINFOros2_control_node[2026-11-05 21:10:14.065] [info] Received new action goal ×2 + 0.94sINFOros2_control_node[2026-11-05 21:10:14.065] [info] Accepted new action goal ×2 + 4.76sINFOros2_control_nodeMuJoCo sim: 0.02% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 4.95sINFOros2_control_node[2026-11-05 21:10:18.073] [info] Received new action goal ×2 + 4.95sINFOros2_control_node[2026-11-05 21:10:18.073] [info] Accepted new action goal ×2 + 10.53sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1793913023.65862250 seconds ×3 + 11.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Record and Replay Scanning Motion"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 11.07sINFOobjective_server_nodeobjective_name: "Record and Replay Scanning Motion" ×2 + 11.15sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1793913024.27311492 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 11.26sINFOobjective_server_nodeFound path in 0 iterations (3.69e-07 s). ×2 + 11.26sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 11.27sINFOros2_control_node[2026-11-05 21:10:24.397] [info] Received new action goal ×2 + 11.27sINFOros2_control_node[2026-11-05 21:10:24.397] [info] Accepted new action goal ×2 + 13.18sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| ✓ passed | Record Square Trajectory | record_square_trajectory.xml | 10.5s | 3 errors · 147 info |
+ 0.00sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1793913034.63347721 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: 1793913035.25286770 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 (2.71e-07 s). ×2 + 0.78sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 0.79sINFOros2_control_node[2026-11-05 21:10:35.419] [info] Received new action goal ×2 + 0.79sINFOros2_control_node[2026-11-05 21:10:35.419] [info] Accepted new action goal ×2 + 5.12sINFOros2_control_node[2026-11-05 21:10:39.748] [info] Received new action goal ×2 + 5.12sINFOros2_control_node[2026-11-05 21:10:39.749] [info] Accepted new action goal ×2 + 7.14sINFOros2_control_node[2026-11-05 21:10:41.770] [info] Received new action goal ×2 + 7.14sINFOros2_control_node[2026-11-05 21:10:41.770] [info] Accepted new action goal ×2 + 7.65sINFOros2_control_node[2026-11-05 21:10:42.271] [info] Received new action goal ×2 + 7.65sINFOros2_control_node[2026-11-05 21:10:42.271] [info] Accepted new action goal ×2 + 9.72sINFOros2_control_node[2026-11-05 21:10:44.342] [info] Received new action goal ×2 + 9.72sINFOros2_control_node[2026-11-05 21:10:44.342] [info] Accepted new action goal ×2 + 10.52sINFOobjective_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 + 10.52sINFOobjective_server_nodeObjective `Record Square Trajectory` succeeded at time: 1793913045.14700460 seconds ×3 + 11.06sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Record Surface Coverage Demo"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 11.07sINFOobjective_server_nodeobjective_name: "Record Surface Coverage Demo" ×2 + 11.17sINFOobjective_server_nodeObjective `Record Surface Coverage Demo` starting at time: 1793913045.79719663 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 11.17sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 11.17sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 12.19sINFOobjective_server_nodeFound path in 0 iterations (4.12e-07 s). ×2 + 12.19sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 12.21sINFOros2_control_node[2026-11-05 21:10:46.831] [info] Received new action goal ×2 + 12.21sINFOros2_control_node[2026-11-05 21:10:46.831] [info] Accepted new action goal ×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: 1793912879.39483762 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: 1793912879.98786545 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 3.351259 ms (missed cycles : 3). + 0.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.351259 ms (missed cycles : 3).[0m ×2 + 0.66sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1793912880.05806208 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 + 1.47sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1793912880.86197138 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.48sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.57sINFOobjective_server_nodeFound path in 0 iterations (2.87e-07 s). ×2 + 1.57sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.58sINFOros2_control_node[2026-11-05 21:08:00.976] [info] Received new action goal ×2 + 1.58sINFOros2_control_node[2026-11-05 21:08:00.976] [info] Accepted new action goal ×2 + 3.59sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1793912882.98213291 seconds ×3 + 5.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.14sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 5.21sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1793912884.60976672 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.22sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 5.22sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 5.30sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 5.31sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 5.58sINFOobjective_server_nodeFound path in 0 iterations (2.11e-07 s). ×2 + 5.58sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 5.63sINFOros2_control_node[2026-11-05 21:08:05.028] [info] Received new action goal ×2 + 5.63sINFOros2_control_node[2026-11-05 21:08:05.028] [info] Accepted new action goal ×2 | ||||
| ✓ passed | Take Scene Camera Snapshot | take_snap.xml | 2.4s | 3 errors · 18 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[2026-11-05 21:11:32.129] [info] Got request to cancel active goal. ×2 + 0.00sINFOros2_control_node[2026-11-05 21:11:32.129] [info] Canceling active goal... ×2 + 0.01sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1793913092.13343644 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 + 0.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.02sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.02sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.02sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.03sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.03sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.55sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 0.55sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 0.55sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 0.55sINFOobjective_server_nodeparameter_overrides: [] ×8 + 0.55sINFOobjective_server_nodecaller: ×8 + 0.55sINFOobjective_server_nodetype: 0 ×8 + 0.55sINFOobjective_server_nodename: "" ×8 + 0.55sINFOobjective_server_nodeinstance_id: "" ×8 + 0.55sINFOobjective_server_node ×8 + 0.60sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1793913092.73120546 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.886127 ms (missed cycles : 4). + 0.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.886127 ms (missed cycles : 4).[0m ×2 + 1.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.187276 ms (missed cycles : 2). + 1.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.187276 ms (missed cycles : 2).[0m ×2 + 2.03sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.00 s). The render path has stopped producing new frames for them.[0m ×2 + 2.38sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1793913094.51140046 seconds ×3 + 2.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.873989 ms (missed cycles : 3). + 2.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.873989 ms (missed cycles : 3).[0m ×2 + 2.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.92sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 2.98sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1793913095.11086249 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.98sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 2.98sINFOobjective_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 + 2.99sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 2.99sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1793913095.11286211 seconds ×3 + 3.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.53sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 3.59sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1793913095.71611905 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1793913095.75711417 seconds ×3 + 4.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.26sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 4.32sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1793913096.45035529 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.987663 ms (missed cycles : 4). + 4.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.987663 ms (missed cycles : 4).[0m ×2 + 5.38sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1793913097.51051617 seconds ×3 + 5.42sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546453 ms (missed cycles : 3). | ||||
| ✓ passed | Close Gripper | close_gripper.xml | 1.5s | 5 warnings · 413 info |
+ 0.00sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×2 + 0.08sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.12sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.12sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.12sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.12sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.12sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.12sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.12sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.12sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 0.15sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.15sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.15sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.15sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.15sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.75sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.75sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.75sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.75sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.75sINFOobjective_server_nodecaller: ×14 + 0.75sINFOobjective_server_nodetype: 0 ×14 + 0.75sINFOobjective_server_nodename: "" ×14 + 0.75sINFOobjective_server_nodeinstance_id: "" ×14 + 0.75sINFOobjective_server_node ×14 + 0.82sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793912775.35496855 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.83sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793912775.36517930 seconds ×3 + 1.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.37sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.42sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793912775.95617938 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.42sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.42sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.33sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793912776.86634350 seconds ×3 + 2.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.89sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.94sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793912777.48105383 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.00sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793912777.54122686 seconds ×3 + 3.35sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.61sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.67sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793912778.20602131 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.69sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793912778.22618771 seconds ×3 + 4.23sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.23sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.28sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793912778.82100129 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.43sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793912778.97153234 seconds ×3 + 5.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.07sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.12sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793912779.66099024 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.14sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.14sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.15sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.461359 ms (missed cycles : 3). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.461359 ms (missed cycles : 3).[0m ×2 + 5.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793912779.71114635 seconds ×3 + 5.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.79sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 5.90sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1793912780.43706203 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.91sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 5.91sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.91sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.91sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.91sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.91sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.91sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.91sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.92sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.03sINFOobjective_server_nodeFound path in 0 iterations (2.0724e-05 s). ×2 + 6.03sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 6.04sINFOros2_control_node[2026-11-05 21:06:20.573] [info] Received new action goal ×2 + 6.04sINFOros2_control_node[2026-11-05 21:06:20.573] [info] Accepted new action goal ×2 | ||||
| ✓ passed | Reset MuJoCo Robot | reset_mujoco_robot.xml | 0.8s | 3 warnings · 193 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.01% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.58sINFOobjective_server_nodeObjective `Record Surface Coverage Demo` succeeded at time: 1793913079.47151542 seconds ×3 + 1.68sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.68sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.68sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.68sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.68sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.69sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.69sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.22sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.22sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 2.22sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.22sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.22sINFOobjective_server_nodecaller: ×6 + 2.22sINFOobjective_server_nodetype: 0 ×6 + 2.22sINFOobjective_server_nodename: "" ×6 + 2.22sINFOobjective_server_nodeinstance_id: "" ×6 + 2.22sINFOobjective_server_node ×6 + 2.44sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1793913080.32983279 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.48sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.48sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.50sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.50sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.739311 ms (missed cycles : 3). + 2.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.739311 ms (missed cycles : 3).[0m ×2 + 2.52sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1793913080.40999460 seconds ×3 + 3.06sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.06sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 3.12sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1793913081.01453948 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.14sINFOobjective_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 + 3.14sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1793913081.03606725 seconds ×3 + 3.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.78sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 3.85sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1793913081.73876190 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.86sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.95sINFOobjective_server_nodeFound path in 0 iterations (2.89e-07 s). ×2 + 3.95sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 3.96sINFOros2_control_node[2026-11-05 21:11:21.853] [info] Received new action goal ×2 + 3.96sINFOros2_control_node[2026-11-05 21:11:21.853] [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 7.159139 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.159139 ms (missed cycles : 5).[0m ×2 + 1.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.467540 ms (missed cycles : 6). + 1.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.467540 ms (missed cycles : 6).[0m ×2 + 1.48sWARNros2_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 + 2.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.337379 ms (missed cycles : 4). + 2.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.337379 ms (missed cycles : 4).[0m ×2 + 2.74sINFOobjective_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 + 2.75sERRORobjective_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: 1793912801.63212109 seconds ×3 + 2.75sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.75sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.75sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.76sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.76sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.76sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.76sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.77sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.78sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.31sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.31sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 3.31sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.31sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.31sINFOobjective_server_nodecaller: ×4 + 3.31sINFOobjective_server_nodetype: 0 ×4 + 3.31sINFOobjective_server_nodename: "" ×4 + 3.31sINFOobjective_server_nodeinstance_id: "" ×4 + 3.31sINFOobjective_server_node ×4 + 3.37sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1793912802.25271869 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.50sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1793912802.38288856 seconds ×3 + 3.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.765359 ms (missed cycles : 2). + 3.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.765359 ms (missed cycles : 2).[0m ×2 + 4.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.13sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 4.19sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1793912803.07518196 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.20sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.20sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.28sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.38sINFOobjective_server_nodeFound path in 0 iterations (4.14e-07 s). ×2 + 4.38sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.39sINFOros2_control_node[2026-11-05 21:06:43.270] [info] Received new action goal ×2 + 4.39sINFOros2_control_node[2026-11-05 21:06:43.270] [info] Accepted new action goal ×2 + 6.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.236971 ms (missed cycles : 4). + 6.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.236971 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Clear Previous Obstacles | clear_previous_obstacles.xml | 0.7s | 125 info |
+ 0.00sINFOros2_control_node[2026-11-05 21:06:51.249] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-11-05 21:06:51.249] [info] Accepted new action goal ×2 + 1.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.62sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.63sINFOros2_control_node[2026-11-05 21:06:52.880] [info] Received new action goal ×2 + 1.63sINFOros2_control_node[2026-11-05 21:06:52.880] [info] Accepted new action goal ×2 + 2.93sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1793912814.17648005 seconds ×3 + 2.93sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.93sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.93sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.93sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.93sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.93sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.94sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.94sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.94sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.94sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.47sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.47sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 3.47sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.47sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.47sINFOobjective_server_nodecaller: ×4 + 3.47sINFOobjective_server_nodetype: 0 ×4 + 3.47sINFOobjective_server_nodename: "" ×4 + 3.47sINFOobjective_server_nodeinstance_id: "" ×4 + 3.47sINFOobjective_server_node ×4 + 3.55sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1793912814.79775167 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.64sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1793912814.88801265 seconds ×3 + 4.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.22sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 4.30sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1793912815.55013132 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.31sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.41sINFOobjective_server_nodeFound path in 0 iterations (3.09e-07 s). ×2 + 4.42sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 4.43sINFOros2_control_node[2026-11-05 21:06:55.675] [info] Received new action goal ×2 + 4.43sINFOros2_control_node[2026-11-05 21:06:55.675] [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: 1793912879.39483762 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: 1793912879.98786545 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 3.351259 ms (missed cycles : 3). + 0.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.351259 ms (missed cycles : 3).[0m ×2 + 0.66sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1793912880.05806208 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 + 1.47sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1793912880.86197138 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.48sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 1.57sINFOobjective_server_nodeFound path in 0 iterations (2.87e-07 s). ×2 + 1.57sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.58sINFOros2_control_node[2026-11-05 21:08:00.976] [info] Received new action goal ×2 + 1.58sINFOros2_control_node[2026-11-05 21:08:00.976] [info] Accepted new action goal ×2 + 3.59sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1793912882.98213291 seconds ×3 | ||||
| ✓ passed | Open Gripper | open_gripper.xml | 0.6s | 5 warnings · 413 info |
+ 0.00sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×2 + 0.08sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.12sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.12sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.12sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.12sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.12sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.12sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.12sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.12sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 0.15sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.15sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.15sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.15sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.15sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.75sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.75sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.75sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.75sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.75sINFOobjective_server_nodecaller: ×14 + 0.75sINFOobjective_server_nodetype: 0 ×14 + 0.75sINFOobjective_server_nodename: "" ×14 + 0.75sINFOobjective_server_nodeinstance_id: "" ×14 + 0.75sINFOobjective_server_node ×14 + 0.82sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793912775.35496855 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.83sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793912775.36517930 seconds ×3 + 1.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.37sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.42sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793912775.95617938 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.42sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.42sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.33sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793912776.86634350 seconds ×3 + 2.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.89sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.94sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793912777.48105383 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.00sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793912777.54122686 seconds ×3 + 3.35sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.61sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.67sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793912778.20602131 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.69sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793912778.22618771 seconds ×3 + 4.23sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.23sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.28sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793912778.82100129 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.43sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793912778.97153234 seconds ×3 + 5.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.07sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.12sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793912779.66099024 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.14sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.14sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.15sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.461359 ms (missed cycles : 3). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.461359 ms (missed cycles : 3).[0m ×2 + 5.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793912779.71114635 seconds ×3 + 5.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.79sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 5.90sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1793912780.43706203 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.91sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 5.91sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.91sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.91sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.91sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.91sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.91sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.91sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.92sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.03sINFOobjective_server_nodeFound path in 0 iterations (2.0724e-05 s). ×2 + 6.03sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 6.04sINFOros2_control_node[2026-11-05 21:06:20.573] [info] Received new action goal ×2 + 6.04sINFOros2_control_node[2026-11-05 21:06:20.573] [info] Accepted new action goal ×2 | ||||
| ✓ passed | Visualize Grasp Link | visualize_grasp_link.xml | 0.6s | 3 errors · 20 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[2026-11-05 21:11:32.129] [info] Got request to cancel active goal. ×2 + 0.00sINFOros2_control_node[2026-11-05 21:11:32.129] [info] Canceling active goal... ×2 + 0.01sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1793913092.13343644 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 + 0.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.02sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.02sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.02sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.03sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.03sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.55sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 0.55sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 0.55sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 0.55sINFOobjective_server_nodeparameter_overrides: [] ×8 + 0.55sINFOobjective_server_nodecaller: ×8 + 0.55sINFOobjective_server_nodetype: 0 ×8 + 0.55sINFOobjective_server_nodename: "" ×8 + 0.55sINFOobjective_server_nodeinstance_id: "" ×8 + 0.55sINFOobjective_server_node ×8 + 0.60sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1793913092.73120546 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.886127 ms (missed cycles : 4). + 0.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.886127 ms (missed cycles : 4).[0m ×2 + 1.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.187276 ms (missed cycles : 2). + 1.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.187276 ms (missed cycles : 2).[0m ×2 + 2.03sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.00 s). The render path has stopped producing new frames for them.[0m ×2 + 2.38sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1793913094.51140046 seconds ×3 + 2.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.873989 ms (missed cycles : 3). + 2.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.873989 ms (missed cycles : 3).[0m ×2 + 2.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.92sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 2.98sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1793913095.11086249 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.98sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 2.98sINFOobjective_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 + 2.99sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 2.99sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1793913095.11286211 seconds ×3 + 3.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.53sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 3.59sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1793913095.71611905 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1793913095.75711417 seconds ×3 + 4.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.26sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 4.32sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1793913096.45035529 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.987663 ms (missed cycles : 4). + 4.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.987663 ms (missed cycles : 4).[0m ×2 + 5.38sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1793913097.51051617 seconds ×3 + 5.42sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546453 ms (missed cycles : 3). + 5.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546453 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Save Robot Joint State | save_robot_joint_state.xml | 0.6s | 3 warnings · 193 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.01% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.58sINFOobjective_server_nodeObjective `Record Surface Coverage Demo` succeeded at time: 1793913079.47151542 seconds ×3 + 1.68sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.68sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.68sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.68sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.68sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.69sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.69sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.22sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.22sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 2.22sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.22sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.22sINFOobjective_server_nodecaller: ×6 + 2.22sINFOobjective_server_nodetype: 0 ×6 + 2.22sINFOobjective_server_nodename: "" ×6 + 2.22sINFOobjective_server_nodeinstance_id: "" ×6 + 2.22sINFOobjective_server_node ×6 + 2.44sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1793913080.32983279 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.48sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.48sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.50sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.50sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.739311 ms (missed cycles : 3). + 2.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.739311 ms (missed cycles : 3).[0m ×2 + 2.52sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1793913080.40999460 seconds ×3 + 3.06sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.06sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 3.12sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1793913081.01453948 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.14sINFOobjective_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 + 3.14sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1793913081.03606725 seconds ×3 + 3.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.78sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 3.85sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1793913081.73876190 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.86sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.95sINFOobjective_server_nodeFound path in 0 iterations (2.89e-07 s). ×2 + 3.95sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 3.96sINFOros2_control_node[2026-11-05 21:11:21.853] [info] Received new action goal ×2 + 3.96sINFOros2_control_node[2026-11-05 21:11:21.853] [info] Accepted new action goal ×2 | ||||
| ✓ passed | Vector and String Example | vector_and_string_example.xml | 0.6s | 3 errors · 20 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[2026-11-05 21:11:32.129] [info] Got request to cancel active goal. ×2 + 0.00sINFOros2_control_node[2026-11-05 21:11:32.129] [info] Canceling active goal... ×2 + 0.01sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1793913092.13343644 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 + 0.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.02sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.02sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.02sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.03sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.03sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.55sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 0.55sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 0.55sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 0.55sINFOobjective_server_nodeparameter_overrides: [] ×8 + 0.55sINFOobjective_server_nodecaller: ×8 + 0.55sINFOobjective_server_nodetype: 0 ×8 + 0.55sINFOobjective_server_nodename: "" ×8 + 0.55sINFOobjective_server_nodeinstance_id: "" ×8 + 0.55sINFOobjective_server_node ×8 + 0.60sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1793913092.73120546 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.886127 ms (missed cycles : 4). + 0.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.886127 ms (missed cycles : 4).[0m ×2 + 1.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.187276 ms (missed cycles : 2). + 1.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.187276 ms (missed cycles : 2).[0m ×2 + 2.03sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.00 s). The render path has stopped producing new frames for them.[0m ×2 + 2.38sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1793913094.51140046 seconds ×3 + 2.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.873989 ms (missed cycles : 3). + 2.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.873989 ms (missed cycles : 3).[0m ×2 + 2.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.92sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 2.98sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1793913095.11086249 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.98sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 2.98sINFOobjective_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 + 2.99sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 2.99sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1793913095.11286211 seconds ×3 + 3.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.53sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 3.59sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1793913095.71611905 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1793913095.75711417 seconds ×3 + 4.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.26sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 4.32sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1793913096.45035529 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.987663 ms (missed cycles : 4). + 4.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.987663 ms (missed cycles : 4).[0m ×2 + 5.38sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1793913097.51051617 seconds ×3 + 5.42sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546453 ms (missed cycles : 3). + 5.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546453 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Register CAD Part Subtree | register_cad_part_subtree.xml | 0.1s | 3 warnings · 193 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.01% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.58sINFOobjective_server_nodeObjective `Record Surface Coverage Demo` succeeded at time: 1793913079.47151542 seconds ×3 + 1.68sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.68sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.68sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.68sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.68sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.69sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.69sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.22sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.22sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 2.22sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.22sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.22sINFOobjective_server_nodecaller: ×6 + 2.22sINFOobjective_server_nodetype: 0 ×6 + 2.22sINFOobjective_server_nodename: "" ×6 + 2.22sINFOobjective_server_nodeinstance_id: "" ×6 + 2.22sINFOobjective_server_node ×6 + 2.44sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1793913080.32983279 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.48sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.48sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.50sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.50sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.739311 ms (missed cycles : 3). + 2.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.739311 ms (missed cycles : 3).[0m ×2 + 2.52sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1793913080.40999460 seconds ×3 + 3.06sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.06sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 3.12sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1793913081.01453948 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.14sINFOobjective_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 + 3.14sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1793913081.03606725 seconds ×3 + 3.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.78sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 3.85sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1793913081.73876190 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.86sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.95sINFOobjective_server_nodeFound path in 0 iterations (2.89e-07 s). ×2 + 3.95sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 3.96sINFOros2_control_node[2026-11-05 21:11:21.853] [info] Received new action goal ×2 + 3.96sINFOros2_control_node[2026-11-05 21:11:21.853] [info] Accepted new action goal ×2 | ||||
| − skipped | Pick object | pick_object.xml | 0.0s | 74 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[2026-11-05 21:09:59.877] [info] Received new action goal ×2 + 0.37sINFOros2_control_node[2026-11-05 21:09:59.877] [info] Accepted new action goal ×2 + 1.67sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1793913001.17342687 seconds ×3 + 2.66sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.66sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.66sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.66sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.66sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.66sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.67sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.67sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.67sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.67sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.67sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.19sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.19sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.19sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.19sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.19sINFOobjective_server_nodecaller: ×2 + 3.19sINFOobjective_server_nodetype: 0 ×2 + 3.19sINFOobjective_server_nodename: "" ×2 + 3.19sINFOobjective_server_nodeinstance_id: "" ×2 + 3.19sINFOobjective_server_node ×2 + 3.28sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1793913002.79057908 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.36sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.45sINFOobjective_server_nodeFound path in 0 iterations (2.32e-07 s). ×2 + 3.45sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.46sINFOros2_control_node[2026-11-05 21:10:02.964] [info] Received new action goal ×2 + 3.46sINFOros2_control_node[2026-11-05 21:10:02.964] [info] Accepted new action goal ×2 + 5.37sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − 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 7.159139 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.159139 ms (missed cycles : 5).[0m ×2 + 1.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.467540 ms (missed cycles : 6). + 1.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.467540 ms (missed cycles : 6).[0m ×2 + 1.48sWARNros2_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 + 2.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.337379 ms (missed cycles : 4). + 2.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.337379 ms (missed cycles : 4).[0m ×2 + 2.74sINFOobjective_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 + 2.75sERRORobjective_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: 1793912801.63212109 seconds ×3 + 2.75sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.75sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.75sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.76sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.76sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.76sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.76sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.77sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.78sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.31sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.31sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 3.31sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.31sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.31sINFOobjective_server_nodecaller: ×4 + 3.31sINFOobjective_server_nodetype: 0 ×4 + 3.31sINFOobjective_server_nodename: "" ×4 + 3.31sINFOobjective_server_nodeinstance_id: "" ×4 + 3.31sINFOobjective_server_node ×4 + 3.37sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1793912802.25271869 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.50sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1793912802.38288856 seconds ×3 + 3.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.765359 ms (missed cycles : 2). + 3.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.765359 ms (missed cycles : 2).[0m ×2 + 4.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.13sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 4.19sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1793912803.07518196 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.20sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.20sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.28sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.38sINFOobjective_server_nodeFound path in 0 iterations (4.14e-07 s). ×2 + 4.38sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.39sINFOros2_control_node[2026-11-05 21:06:43.270] [info] Received new action goal ×2 + 4.39sINFOros2_control_node[2026-11-05 21:06:43.270] [info] Accepted new action goal ×2 + 6.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.236971 ms (missed cycles : 4). + 6.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.236971 ms (missed cycles : 4).[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 7.159139 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.159139 ms (missed cycles : 5).[0m ×2 + 1.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.467540 ms (missed cycles : 6). + 1.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.467540 ms (missed cycles : 6).[0m ×2 + 1.48sWARNros2_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 + 2.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.337379 ms (missed cycles : 4). + 2.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.337379 ms (missed cycles : 4).[0m ×2 + 2.74sINFOobjective_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 + 2.75sERRORobjective_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: 1793912801.63212109 seconds ×3 + 2.75sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.75sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.75sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.76sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.76sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.76sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.76sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.77sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.78sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.31sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.31sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 3.31sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.31sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.31sINFOobjective_server_nodecaller: ×4 + 3.31sINFOobjective_server_nodetype: 0 ×4 + 3.31sINFOobjective_server_nodename: "" ×4 + 3.31sINFOobjective_server_nodeinstance_id: "" ×4 + 3.31sINFOobjective_server_node ×4 + 3.37sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1793912802.25271869 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.50sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1793912802.38288856 seconds ×3 + 3.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.765359 ms (missed cycles : 2). + 3.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.765359 ms (missed cycles : 2).[0m ×2 + 4.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.13sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 4.19sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1793912803.07518196 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.20sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.20sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.28sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.38sINFOobjective_server_nodeFound path in 0 iterations (4.14e-07 s). ×2 + 4.38sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.39sINFOros2_control_node[2026-11-05 21:06:43.270] [info] Received new action goal ×2 + 4.39sINFOros2_control_node[2026-11-05 21:06:43.270] [info] Accepted new action goal ×2 + 6.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.236971 ms (missed cycles : 4). + 6.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.236971 ms (missed cycles : 4).[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 8.467540 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.467540 ms (missed cycles : 6).[0m ×2 + 0.03sWARNros2_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 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.337379 ms (missed cycles : 4). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.337379 ms (missed cycles : 4).[0m ×2 + 1.29sINFOobjective_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 + 1.30sERRORobjective_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: 1793912801.63212109 seconds ×3 + 1.31sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.31sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.31sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.31sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.31sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.32sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.86sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.86sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 1.86sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 1.86sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 1.86sINFOobjective_server_nodeparameter_overrides: [] ×4 + 1.86sINFOobjective_server_nodecaller: ×4 + 1.86sINFOobjective_server_nodetype: 0 ×4 + 1.86sINFOobjective_server_nodename: "" ×4 + 1.86sINFOobjective_server_nodeinstance_id: "" ×4 + 1.86sINFOobjective_server_node ×4 + 1.92sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1793912802.25271869 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.05sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1793912802.38288856 seconds ×3 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.765359 ms (missed cycles : 2). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.765359 ms (missed cycles : 2).[0m ×2 + 2.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.68sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 2.74sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1793912803.07518196 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.75sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.75sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.83sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 2.93sINFOobjective_server_nodeFound path in 0 iterations (4.14e-07 s). ×2 + 2.93sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 2.94sINFOros2_control_node[2026-11-05 21:06:43.270] [info] Received new action goal ×2 + 2.94sINFOros2_control_node[2026-11-05 21:06:43.270] [info] Accepted new action goal ×2 + 5.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.236971 ms (missed cycles : 4). + 5.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.236971 ms (missed cycles : 4).[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 8.467540 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.467540 ms (missed cycles : 6).[0m ×2 + 0.03sWARNros2_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 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.337379 ms (missed cycles : 4). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.337379 ms (missed cycles : 4).[0m ×2 + 1.29sINFOobjective_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 + 1.30sERRORobjective_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: 1793912801.63212109 seconds ×3 + 1.31sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.31sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.31sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.31sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.31sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.32sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.86sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.86sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 1.86sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 1.86sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 1.86sINFOobjective_server_nodeparameter_overrides: [] ×4 + 1.86sINFOobjective_server_nodecaller: ×4 + 1.86sINFOobjective_server_nodetype: 0 ×4 + 1.86sINFOobjective_server_nodename: "" ×4 + 1.86sINFOobjective_server_nodeinstance_id: "" ×4 + 1.86sINFOobjective_server_node ×4 + 1.92sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1793912802.25271869 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.05sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1793912802.38288856 seconds ×3 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.765359 ms (missed cycles : 2). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.765359 ms (missed cycles : 2).[0m ×2 + 2.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.68sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 2.74sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1793912803.07518196 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.75sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.75sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.83sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 2.93sINFOobjective_server_nodeFound path in 0 iterations (4.14e-07 s). ×2 + 2.93sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 2.94sINFOros2_control_node[2026-11-05 21:06:43.270] [info] Received new action goal ×2 + 2.94sINFOros2_control_node[2026-11-05 21:06:43.270] [info] Accepted new action goal ×2 + 5.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.236971 ms (missed cycles : 4). + 5.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.236971 ms (missed cycles : 4).[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 8.467540 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.467540 ms (missed cycles : 6).[0m ×2 + 0.03sWARNros2_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 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.337379 ms (missed cycles : 4). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.337379 ms (missed cycles : 4).[0m ×2 + 1.29sINFOobjective_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 + 1.30sERRORobjective_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: 1793912801.63212109 seconds ×3 + 1.31sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.31sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.31sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.31sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.31sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.32sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.86sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.86sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 1.86sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 1.86sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 1.86sINFOobjective_server_nodeparameter_overrides: [] ×4 + 1.86sINFOobjective_server_nodecaller: ×4 + 1.86sINFOobjective_server_nodetype: 0 ×4 + 1.86sINFOobjective_server_nodename: "" ×4 + 1.86sINFOobjective_server_nodeinstance_id: "" ×4 + 1.86sINFOobjective_server_node ×4 + 1.92sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1793912802.25271869 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.05sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1793912802.38288856 seconds ×3 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.765359 ms (missed cycles : 2). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.765359 ms (missed cycles : 2).[0m ×2 + 2.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.68sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 2.74sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1793912803.07518196 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.75sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.75sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.83sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 2.93sINFOobjective_server_nodeFound path in 0 iterations (4.14e-07 s). ×2 + 2.93sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 2.94sINFOros2_control_node[2026-11-05 21:06:43.270] [info] Received new action goal ×2 + 2.94sINFOros2_control_node[2026-11-05 21:06:43.270] [info] Accepted new action goal ×2 + 5.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.236971 ms (missed cycles : 4). + 5.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.236971 ms (missed cycles : 4).[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 8.467540 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.467540 ms (missed cycles : 6).[0m ×2 + 0.03sWARNros2_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 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.337379 ms (missed cycles : 4). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.337379 ms (missed cycles : 4).[0m ×2 + 1.29sINFOobjective_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 + 1.30sERRORobjective_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: 1793912801.63212109 seconds ×3 + 1.31sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.31sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.31sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.31sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.31sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.32sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.86sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.86sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 1.86sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 1.86sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 1.86sINFOobjective_server_nodeparameter_overrides: [] ×4 + 1.86sINFOobjective_server_nodecaller: ×4 + 1.86sINFOobjective_server_nodetype: 0 ×4 + 1.86sINFOobjective_server_nodename: "" ×4 + 1.86sINFOobjective_server_nodeinstance_id: "" ×4 + 1.86sINFOobjective_server_node ×4 + 1.92sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1793912802.25271869 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.05sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1793912802.38288856 seconds ×3 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.765359 ms (missed cycles : 2). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.765359 ms (missed cycles : 2).[0m ×2 + 2.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.68sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 2.74sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1793912803.07518196 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.75sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.75sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.83sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 2.93sINFOobjective_server_nodeFound path in 0 iterations (4.14e-07 s). ×2 + 2.93sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 2.94sINFOros2_control_node[2026-11-05 21:06:43.270] [info] Received new action goal ×2 + 2.94sINFOros2_control_node[2026-11-05 21:06:43.270] [info] Accepted new action goal ×2 + 5.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.236971 ms (missed cycles : 4). + 5.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.236971 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Collect Training Data with Behaviors | collect_training_data_with_behaviors.xml | 0.0s | 121 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.32sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.33sINFOros2_control_node[2026-11-05 21:06:52.880] [info] Received new action goal ×2 + 0.33sINFOros2_control_node[2026-11-05 21:06:52.880] [info] Accepted new action goal ×2 + 1.63sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1793912814.17648005 seconds ×3 + 1.63sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.63sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.63sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.63sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.63sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.63sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.64sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.64sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.64sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.64sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.65sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.65sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.17sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.17sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.17sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.17sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.17sINFOobjective_server_nodecaller: ×4 + 2.17sINFOobjective_server_nodetype: 0 ×4 + 2.17sINFOobjective_server_nodename: "" ×4 + 2.17sINFOobjective_server_nodeinstance_id: "" ×4 + 2.17sINFOobjective_server_node ×4 + 2.25sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1793912814.79775167 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.34sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1793912814.88801265 seconds ×3 + 2.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.92sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.00sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1793912815.55013132 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.01sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.11sINFOobjective_server_nodeFound path in 0 iterations (3.09e-07 s). ×2 + 3.12sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.13sINFOros2_control_node[2026-11-05 21:06:55.675] [info] Received new action goal ×2 + 3.13sINFOros2_control_node[2026-11-05 21:06:55.675] [info] Accepted new action goal ×2 | ||||
| − skipped | ComputeLinkPoseFromWaypoint | computelinkposefromwaypoint.xml | 0.0s | 121 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.32sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.33sINFOros2_control_node[2026-11-05 21:06:52.880] [info] Received new action goal ×2 + 0.33sINFOros2_control_node[2026-11-05 21:06:52.880] [info] Accepted new action goal ×2 + 1.63sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1793912814.17648005 seconds ×3 + 1.63sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.63sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.63sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.63sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.63sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.63sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.64sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.64sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.64sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.64sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.65sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.65sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.17sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.17sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.17sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.17sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.17sINFOobjective_server_nodecaller: ×4 + 2.17sINFOobjective_server_nodetype: 0 ×4 + 2.17sINFOobjective_server_nodename: "" ×4 + 2.17sINFOobjective_server_nodeinstance_id: "" ×4 + 2.17sINFOobjective_server_node ×4 + 2.25sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1793912814.79775167 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.34sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1793912814.88801265 seconds ×3 + 2.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.92sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.00sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1793912815.55013132 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.01sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.11sINFOobjective_server_nodeFound path in 0 iterations (3.09e-07 s). ×2 + 3.12sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.13sINFOros2_control_node[2026-11-05 21:06:55.675] [info] Received new action goal ×2 + 3.13sINFOros2_control_node[2026-11-05 21:06:55.675] [info] Accepted new action goal ×2 | ||||
| − skipped | Constrained Pick and Place Subtree | constrained_pick_and_place_subtree.xml | 0.0s | 121 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.32sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.33sINFOros2_control_node[2026-11-05 21:06:52.880] [info] Received new action goal ×2 + 0.33sINFOros2_control_node[2026-11-05 21:06:52.880] [info] Accepted new action goal ×2 + 1.63sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1793912814.17648005 seconds ×3 + 1.63sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.63sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.63sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.63sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.63sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.63sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.64sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.64sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.64sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.64sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.65sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.65sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.17sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.17sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.17sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.17sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.17sINFOobjective_server_nodecaller: ×4 + 2.17sINFOobjective_server_nodetype: 0 ×4 + 2.17sINFOobjective_server_nodename: "" ×4 + 2.17sINFOobjective_server_nodeinstance_id: "" ×4 + 2.17sINFOobjective_server_node ×4 + 2.25sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1793912814.79775167 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.34sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1793912814.88801265 seconds ×3 + 2.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.92sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.00sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1793912815.55013132 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.01sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.11sINFOobjective_server_nodeFound path in 0 iterations (3.09e-07 s). ×2 + 3.12sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.13sINFOros2_control_node[2026-11-05 21:06:55.675] [info] Received new action goal ×2 + 3.13sINFOros2_control_node[2026-11-05 21:06:55.675] [info] Accepted new action goal ×2 | ||||
| − skipped | Create PCL Poses Vector | create_pcl_poses_vector.xml | 0.0s | 121 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.32sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.33sINFOros2_control_node[2026-11-05 21:06:52.880] [info] Received new action goal ×2 + 0.33sINFOros2_control_node[2026-11-05 21:06:52.880] [info] Accepted new action goal ×2 + 1.63sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1793912814.17648005 seconds ×3 + 1.63sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.63sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.63sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.63sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.63sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.63sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.64sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.64sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.64sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.64sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.65sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.65sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.17sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.17sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.17sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.17sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.17sINFOobjective_server_nodecaller: ×4 + 2.17sINFOobjective_server_nodetype: 0 ×4 + 2.17sINFOobjective_server_nodename: "" ×4 + 2.17sINFOobjective_server_nodeinstance_id: "" ×4 + 2.17sINFOobjective_server_node ×4 + 2.25sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1793912814.79775167 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.34sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1793912814.88801265 seconds ×3 + 2.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.92sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.00sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1793912815.55013132 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.01sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.11sINFOobjective_server_nodeFound path in 0 iterations (3.09e-07 s). ×2 + 3.12sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.13sINFOros2_control_node[2026-11-05 21:06:55.675] [info] Received new action goal ×2 + 3.13sINFOros2_control_node[2026-11-05 21:06:55.675] [info] Accepted new action goal ×2 | ||||
| − skipped | Create Pose Vector | create_pose_vector.xml | 0.0s | 121 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.32sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.33sINFOros2_control_node[2026-11-05 21:06:52.880] [info] Received new action goal ×2 + 0.33sINFOros2_control_node[2026-11-05 21:06:52.880] [info] Accepted new action goal ×2 + 1.63sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1793912814.17648005 seconds ×3 + 1.63sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.63sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.63sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.63sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.63sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.63sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.64sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.64sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.64sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.64sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.65sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.65sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.17sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.17sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.17sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.17sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.17sINFOobjective_server_nodecaller: ×4 + 2.17sINFOobjective_server_nodetype: 0 ×4 + 2.17sINFOobjective_server_nodename: "" ×4 + 2.17sINFOobjective_server_nodeinstance_id: "" ×4 + 2.17sINFOobjective_server_node ×4 + 2.25sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1793912814.79775167 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.34sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1793912814.88801265 seconds ×3 + 2.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.92sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.00sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1793912815.55013132 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.01sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.11sINFOobjective_server_nodeFound path in 0 iterations (3.09e-07 s). ×2 + 3.12sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.13sINFOros2_control_node[2026-11-05 21:06:55.675] [info] Received new action goal ×2 + 3.13sINFOros2_control_node[2026-11-05 21:06:55.675] [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 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (2.57e-07 s). ×2 + 0.09sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.10sINFOros2_control_node[2026-11-05 21:07:03.812] [info] Received new action goal ×2 + 0.10sINFOros2_control_node[2026-11-05 21:07:03.812] [info] Accepted new action goal ×2 + 1.92sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.92sINFOros2_control_node[2026-11-05 21:07:05.630] [info] Got request to cancel active goal. ×2 + 1.92sINFOros2_control_node[2026-11-05 21:07:05.630] [info] Canceling active goal... ×2 + 1.93sERRORobjective_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: 1793912825.64321160 seconds ×3 + 1.97sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 1.97sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 1.97sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 1.97sINFOcontroller_managerSuccessfully switched controllers! ×2 + 1.97sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 1.97sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 1.98sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 1.98sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 1.98sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 1.98sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 1.98sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 1.98sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.50sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.50sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.50sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.50sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.50sINFOobjective_server_nodecaller: ×2 + 2.50sINFOobjective_server_nodetype: 0 ×2 + 2.50sINFOobjective_server_nodename: "" ×2 + 2.50sINFOobjective_server_nodeinstance_id: "" ×2 + 2.50sINFOobjective_server_node ×2 + 2.58sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1793912826.29229426 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.58sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.58sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694230 ms (missed cycles : 2). + 2.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694230 ms (missed cycles : 2).[0m ×2 + 2.77sINFOobjective_server_nodeFound path in 0 iterations (3.45e-07 s). ×2 + 2.77sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 2.78sINFOros2_control_node[2026-11-05 21:07:06.486] [info] Received new action goal ×2 + 2.78sINFOros2_control_node[2026-11-05 21:07:06.486] [info] Accepted new action goal ×2 + 4.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.392820 ms (missed cycles : 2). + 4.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.392820 ms (missed cycles : 2).[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 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (2.57e-07 s). ×2 + 0.09sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.10sINFOros2_control_node[2026-11-05 21:07:03.812] [info] Received new action goal ×2 + 0.10sINFOros2_control_node[2026-11-05 21:07:03.812] [info] Accepted new action goal ×2 + 1.92sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.92sINFOros2_control_node[2026-11-05 21:07:05.630] [info] Got request to cancel active goal. ×2 + 1.92sINFOros2_control_node[2026-11-05 21:07:05.630] [info] Canceling active goal... ×2 + 1.93sERRORobjective_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: 1793912825.64321160 seconds ×3 + 1.97sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 1.97sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 1.97sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 1.97sINFOcontroller_managerSuccessfully switched controllers! ×2 + 1.97sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 1.97sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 1.98sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 1.98sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 1.98sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 1.98sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 1.98sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 1.98sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.50sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.50sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.50sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.50sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.50sINFOobjective_server_nodecaller: ×2 + 2.50sINFOobjective_server_nodetype: 0 ×2 + 2.50sINFOobjective_server_nodename: "" ×2 + 2.50sINFOobjective_server_nodeinstance_id: "" ×2 + 2.50sINFOobjective_server_node ×2 + 2.58sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1793912826.29229426 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.58sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.58sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694230 ms (missed cycles : 2). + 2.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694230 ms (missed cycles : 2).[0m ×2 + 2.77sINFOobjective_server_nodeFound path in 0 iterations (3.45e-07 s). ×2 + 2.77sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 2.78sINFOros2_control_node[2026-11-05 21:07:06.486] [info] Received new action goal ×2 + 2.78sINFOros2_control_node[2026-11-05 21:07:06.486] [info] Accepted new action goal ×2 + 4.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.392820 ms (missed cycles : 2). + 4.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.392820 ms (missed cycles : 2).[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 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (2.57e-07 s). ×2 + 0.09sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.10sINFOros2_control_node[2026-11-05 21:07:03.812] [info] Received new action goal ×2 + 0.10sINFOros2_control_node[2026-11-05 21:07:03.812] [info] Accepted new action goal ×2 + 1.92sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.92sINFOros2_control_node[2026-11-05 21:07:05.630] [info] Got request to cancel active goal. ×2 + 1.92sINFOros2_control_node[2026-11-05 21:07:05.630] [info] Canceling active goal... ×2 + 1.93sERRORobjective_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: 1793912825.64321160 seconds ×3 + 1.97sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 1.97sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 1.97sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 1.97sINFOcontroller_managerSuccessfully switched controllers! ×2 + 1.97sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 1.97sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 1.98sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 1.98sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 1.98sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 1.98sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 1.98sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 1.98sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.50sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.50sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.50sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.50sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.50sINFOobjective_server_nodecaller: ×2 + 2.50sINFOobjective_server_nodetype: 0 ×2 + 2.50sINFOobjective_server_nodename: "" ×2 + 2.50sINFOobjective_server_nodeinstance_id: "" ×2 + 2.50sINFOobjective_server_node ×2 + 2.58sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1793912826.29229426 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.58sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.58sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694230 ms (missed cycles : 2). + 2.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694230 ms (missed cycles : 2).[0m ×2 + 2.77sINFOobjective_server_nodeFound path in 0 iterations (3.45e-07 s). ×2 + 2.77sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 2.78sINFOros2_control_node[2026-11-05 21:07:06.486] [info] Received new action goal ×2 + 2.78sINFOros2_control_node[2026-11-05 21:07:06.486] [info] Accepted new action goal ×2 + 4.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.392820 ms (missed cycles : 2). + 4.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.392820 ms (missed cycles : 2).[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 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (2.57e-07 s). ×2 + 0.09sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.10sINFOros2_control_node[2026-11-05 21:07:03.812] [info] Received new action goal ×2 + 0.10sINFOros2_control_node[2026-11-05 21:07:03.812] [info] Accepted new action goal ×2 + 1.92sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.92sINFOros2_control_node[2026-11-05 21:07:05.630] [info] Got request to cancel active goal. ×2 + 1.92sINFOros2_control_node[2026-11-05 21:07:05.630] [info] Canceling active goal... ×2 + 1.93sERRORobjective_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: 1793912825.64321160 seconds ×3 + 1.97sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 1.97sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 1.97sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 1.97sINFOcontroller_managerSuccessfully switched controllers! ×2 + 1.97sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 1.97sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 1.98sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 1.98sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 1.98sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 1.98sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 1.98sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 1.98sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.50sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.50sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.50sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.50sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.50sINFOobjective_server_nodecaller: ×2 + 2.50sINFOobjective_server_nodetype: 0 ×2 + 2.50sINFOobjective_server_nodename: "" ×2 + 2.50sINFOobjective_server_nodeinstance_id: "" ×2 + 2.50sINFOobjective_server_node ×2 + 2.58sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1793912826.29229426 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.58sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.58sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694230 ms (missed cycles : 2). + 2.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694230 ms (missed cycles : 2).[0m ×2 + 2.77sINFOobjective_server_nodeFound path in 0 iterations (3.45e-07 s). ×2 + 2.77sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 2.78sINFOros2_control_node[2026-11-05 21:07:06.486] [info] Received new action goal ×2 + 2.78sINFOros2_control_node[2026-11-05 21:07:06.486] [info] Accepted new action goal ×2 + 4.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.392820 ms (missed cycles : 2). + 4.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.392820 ms (missed cycles : 2).[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 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (2.57e-07 s). ×2 + 0.09sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.10sINFOros2_control_node[2026-11-05 21:07:03.812] [info] Received new action goal ×2 + 0.10sINFOros2_control_node[2026-11-05 21:07:03.812] [info] Accepted new action goal ×2 + 1.92sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.92sINFOros2_control_node[2026-11-05 21:07:05.630] [info] Got request to cancel active goal. ×2 + 1.92sINFOros2_control_node[2026-11-05 21:07:05.630] [info] Canceling active goal... ×2 + 1.93sERRORobjective_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: 1793912825.64321160 seconds ×3 + 1.97sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 1.97sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 1.97sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 1.97sINFOcontroller_managerSuccessfully switched controllers! ×2 + 1.97sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 1.97sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 1.98sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 1.98sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 1.98sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 1.98sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 1.98sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 1.98sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.50sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.50sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.50sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.50sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.50sINFOobjective_server_nodecaller: ×2 + 2.50sINFOobjective_server_nodetype: 0 ×2 + 2.50sINFOobjective_server_nodename: "" ×2 + 2.50sINFOobjective_server_nodeinstance_id: "" ×2 + 2.50sINFOobjective_server_node ×2 + 2.58sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1793912826.29229426 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.58sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.58sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694230 ms (missed cycles : 2). + 2.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694230 ms (missed cycles : 2).[0m ×2 + 2.77sINFOobjective_server_nodeFound path in 0 iterations (3.45e-07 s). ×2 + 2.77sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 2.78sINFOros2_control_node[2026-11-05 21:07:06.486] [info] Received new action goal ×2 + 2.78sINFOros2_control_node[2026-11-05 21:07:06.486] [info] Accepted new action goal ×2 + 4.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.392820 ms (missed cycles : 2). + 4.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.392820 ms (missed cycles : 2).[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 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (2.57e-07 s). ×2 + 0.09sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.10sINFOros2_control_node[2026-11-05 21:07:03.812] [info] Received new action goal ×2 + 0.10sINFOros2_control_node[2026-11-05 21:07:03.812] [info] Accepted new action goal ×2 + 1.92sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.92sINFOros2_control_node[2026-11-05 21:07:05.630] [info] Got request to cancel active goal. ×2 + 1.92sINFOros2_control_node[2026-11-05 21:07:05.630] [info] Canceling active goal... ×2 + 1.93sERRORobjective_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: 1793912825.64321160 seconds ×3 + 1.97sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 1.97sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 1.97sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 1.97sINFOcontroller_managerSuccessfully switched controllers! ×2 + 1.97sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 1.97sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 1.98sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 1.98sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 1.98sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 1.98sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 1.98sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 1.98sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.50sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.50sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.50sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.50sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.50sINFOobjective_server_nodecaller: ×2 + 2.50sINFOobjective_server_nodetype: 0 ×2 + 2.50sINFOobjective_server_nodename: "" ×2 + 2.50sINFOobjective_server_nodeinstance_id: "" ×2 + 2.50sINFOobjective_server_node ×2 + 2.58sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1793912826.29229426 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.58sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.58sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694230 ms (missed cycles : 2). + 2.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694230 ms (missed cycles : 2).[0m ×2 + 2.77sINFOobjective_server_nodeFound path in 0 iterations (3.45e-07 s). ×2 + 2.77sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 2.78sINFOros2_control_node[2026-11-05 21:07:06.486] [info] Received new action goal ×2 + 2.78sINFOros2_control_node[2026-11-05 21:07:06.486] [info] Accepted new action goal ×2 + 4.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.392820 ms (missed cycles : 2). + 4.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.392820 ms (missed cycles : 2).[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 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (2.57e-07 s). ×2 + 0.09sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.10sINFOros2_control_node[2026-11-05 21:07:03.812] [info] Received new action goal ×2 + 0.10sINFOros2_control_node[2026-11-05 21:07:03.812] [info] Accepted new action goal ×2 + 1.92sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.92sINFOros2_control_node[2026-11-05 21:07:05.630] [info] Got request to cancel active goal. ×2 + 1.92sINFOros2_control_node[2026-11-05 21:07:05.630] [info] Canceling active goal... ×2 + 1.93sERRORobjective_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: 1793912825.64321160 seconds ×3 + 1.97sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 1.97sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 1.97sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 1.97sINFOcontroller_managerSuccessfully switched controllers! ×2 + 1.97sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 1.97sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 1.98sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 1.98sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 1.98sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 1.98sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 1.98sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 1.98sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.50sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.50sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.50sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.50sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.50sINFOobjective_server_nodecaller: ×2 + 2.50sINFOobjective_server_nodetype: 0 ×2 + 2.50sINFOobjective_server_nodename: "" ×2 + 2.50sINFOobjective_server_nodeinstance_id: "" ×2 + 2.50sINFOobjective_server_node ×2 + 2.58sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1793912826.29229426 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.58sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.58sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694230 ms (missed cycles : 2). + 2.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694230 ms (missed cycles : 2).[0m ×2 + 2.77sINFOobjective_server_nodeFound path in 0 iterations (3.45e-07 s). ×2 + 2.77sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 2.78sINFOros2_control_node[2026-11-05 21:07:06.486] [info] Received new action goal ×2 + 2.78sINFOros2_control_node[2026-11-05 21:07:06.486] [info] Accepted new action goal ×2 + 4.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.392820 ms (missed cycles : 2). + 4.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.392820 ms (missed cycles : 2).[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 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (2.57e-07 s). ×2 + 0.09sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.10sINFOros2_control_node[2026-11-05 21:07:03.812] [info] Received new action goal ×2 + 0.10sINFOros2_control_node[2026-11-05 21:07:03.812] [info] Accepted new action goal ×2 + 1.92sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.92sINFOros2_control_node[2026-11-05 21:07:05.630] [info] Got request to cancel active goal. ×2 + 1.92sINFOros2_control_node[2026-11-05 21:07:05.630] [info] Canceling active goal... ×2 + 1.93sERRORobjective_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: 1793912825.64321160 seconds ×3 + 1.97sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 1.97sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 1.97sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 1.97sINFOcontroller_managerSuccessfully switched controllers! ×2 + 1.97sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 1.97sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 1.98sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 1.98sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 1.98sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 1.98sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 1.98sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 1.98sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.50sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.50sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.50sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.50sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.50sINFOobjective_server_nodecaller: ×2 + 2.50sINFOobjective_server_nodetype: 0 ×2 + 2.50sINFOobjective_server_nodename: "" ×2 + 2.50sINFOobjective_server_nodeinstance_id: "" ×2 + 2.50sINFOobjective_server_node ×2 + 2.58sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1793912826.29229426 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.58sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.58sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694230 ms (missed cycles : 2). + 2.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694230 ms (missed cycles : 2).[0m ×2 + 2.77sINFOobjective_server_nodeFound path in 0 iterations (3.45e-07 s). ×2 + 2.77sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 2.78sINFOros2_control_node[2026-11-05 21:07:06.486] [info] Received new action goal ×2 + 2.78sINFOros2_control_node[2026-11-05 21:07:06.486] [info] Accepted new action goal ×2 + 4.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.392820 ms (missed cycles : 2). + 4.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.392820 ms (missed cycles : 2).[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 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (2.57e-07 s). ×2 + 0.09sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.10sINFOros2_control_node[2026-11-05 21:07:03.812] [info] Received new action goal ×2 + 0.10sINFOros2_control_node[2026-11-05 21:07:03.812] [info] Accepted new action goal ×2 + 1.92sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.92sINFOros2_control_node[2026-11-05 21:07:05.630] [info] Got request to cancel active goal. ×2 + 1.92sINFOros2_control_node[2026-11-05 21:07:05.630] [info] Canceling active goal... ×2 + 1.93sERRORobjective_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: 1793912825.64321160 seconds ×3 + 1.97sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 1.97sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 1.97sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 1.97sINFOcontroller_managerSuccessfully switched controllers! ×2 + 1.97sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 1.97sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 1.98sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 1.98sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 1.98sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 1.98sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 1.98sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 1.98sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.50sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.50sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.50sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.50sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.50sINFOobjective_server_nodecaller: ×2 + 2.50sINFOobjective_server_nodetype: 0 ×2 + 2.50sINFOobjective_server_nodename: "" ×2 + 2.50sINFOobjective_server_nodeinstance_id: "" ×2 + 2.50sINFOobjective_server_node ×2 + 2.58sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1793912826.29229426 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.58sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.58sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694230 ms (missed cycles : 2). + 2.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694230 ms (missed cycles : 2).[0m ×2 + 2.77sINFOobjective_server_nodeFound path in 0 iterations (3.45e-07 s). ×2 + 2.77sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 2.78sINFOros2_control_node[2026-11-05 21:07:06.486] [info] Received new action goal ×2 + 2.78sINFOros2_control_node[2026-11-05 21:07:06.486] [info] Accepted new action goal ×2 + 4.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.392820 ms (missed cycles : 2). + 4.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.392820 ms (missed cycles : 2).[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 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (2.57e-07 s). ×2 + 0.09sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.10sINFOros2_control_node[2026-11-05 21:07:03.812] [info] Received new action goal ×2 + 0.10sINFOros2_control_node[2026-11-05 21:07:03.812] [info] Accepted new action goal ×2 + 1.92sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.92sINFOros2_control_node[2026-11-05 21:07:05.630] [info] Got request to cancel active goal. ×2 + 1.92sINFOros2_control_node[2026-11-05 21:07:05.630] [info] Canceling active goal... ×2 + 1.93sERRORobjective_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: 1793912825.64321160 seconds ×3 + 1.97sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 1.97sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 1.97sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 1.97sINFOcontroller_managerSuccessfully switched controllers! ×2 + 1.97sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 1.97sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 1.98sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 1.98sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 1.98sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 1.98sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 1.98sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 1.98sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.50sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.50sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.50sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.50sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.50sINFOobjective_server_nodecaller: ×2 + 2.50sINFOobjective_server_nodetype: 0 ×2 + 2.50sINFOobjective_server_nodename: "" ×2 + 2.50sINFOobjective_server_nodeinstance_id: "" ×2 + 2.50sINFOobjective_server_node ×2 + 2.58sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1793912826.29229426 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.58sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.58sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694230 ms (missed cycles : 2). + 2.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694230 ms (missed cycles : 2).[0m ×2 + 2.77sINFOobjective_server_nodeFound path in 0 iterations (3.45e-07 s). ×2 + 2.77sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 2.78sINFOros2_control_node[2026-11-05 21:07:06.486] [info] Received new action goal ×2 + 2.78sINFOros2_control_node[2026-11-05 21:07:06.486] [info] Accepted new action goal ×2 + 4.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.392820 ms (missed cycles : 2). + 4.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.392820 ms (missed cycles : 2).[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 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (2.57e-07 s). ×2 + 0.09sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.10sINFOros2_control_node[2026-11-05 21:07:03.812] [info] Received new action goal ×2 + 0.10sINFOros2_control_node[2026-11-05 21:07:03.812] [info] Accepted new action goal ×2 + 1.92sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.92sINFOros2_control_node[2026-11-05 21:07:05.630] [info] Got request to cancel active goal. ×2 + 1.92sINFOros2_control_node[2026-11-05 21:07:05.630] [info] Canceling active goal... ×2 + 1.93sERRORobjective_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: 1793912825.64321160 seconds ×3 + 1.97sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 1.97sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 1.97sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 1.97sINFOcontroller_managerSuccessfully switched controllers! ×2 + 1.97sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 1.97sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 1.98sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 1.98sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 1.98sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 1.98sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 1.98sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 1.98sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.50sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.50sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.50sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.50sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.50sINFOobjective_server_nodecaller: ×2 + 2.50sINFOobjective_server_nodetype: 0 ×2 + 2.50sINFOobjective_server_nodename: "" ×2 + 2.50sINFOobjective_server_nodeinstance_id: "" ×2 + 2.50sINFOobjective_server_node ×2 + 2.58sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1793912826.29229426 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.58sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.58sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694230 ms (missed cycles : 2). + 2.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694230 ms (missed cycles : 2).[0m ×2 + 2.77sINFOobjective_server_nodeFound path in 0 iterations (3.45e-07 s). ×2 + 2.77sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 2.78sINFOros2_control_node[2026-11-05 21:07:06.486] [info] Received new action goal ×2 + 2.78sINFOros2_control_node[2026-11-05 21:07:06.486] [info] Accepted new action goal ×2 + 4.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.392820 ms (missed cycles : 2). + 4.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.392820 ms (missed cycles : 2).[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 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (2.57e-07 s). ×2 + 0.09sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.10sINFOros2_control_node[2026-11-05 21:07:03.812] [info] Received new action goal ×2 + 0.10sINFOros2_control_node[2026-11-05 21:07:03.812] [info] Accepted new action goal ×2 + 1.92sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.92sINFOros2_control_node[2026-11-05 21:07:05.630] [info] Got request to cancel active goal. ×2 + 1.92sINFOros2_control_node[2026-11-05 21:07:05.630] [info] Canceling active goal... ×2 + 1.93sERRORobjective_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: 1793912825.64321160 seconds ×3 + 1.97sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 1.97sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 1.97sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 1.97sINFOcontroller_managerSuccessfully switched controllers! ×2 + 1.97sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 1.97sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 1.98sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 1.98sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 1.98sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 1.98sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 1.98sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 1.98sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.50sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.50sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.50sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.50sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.50sINFOobjective_server_nodecaller: ×2 + 2.50sINFOobjective_server_nodetype: 0 ×2 + 2.50sINFOobjective_server_nodename: "" ×2 + 2.50sINFOobjective_server_nodeinstance_id: "" ×2 + 2.50sINFOobjective_server_node ×2 + 2.58sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1793912826.29229426 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.58sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.58sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694230 ms (missed cycles : 2). + 2.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694230 ms (missed cycles : 2).[0m ×2 + 2.77sINFOobjective_server_nodeFound path in 0 iterations (3.45e-07 s). ×2 + 2.77sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 2.78sINFOros2_control_node[2026-11-05 21:07:06.486] [info] Received new action goal ×2 + 2.78sINFOros2_control_node[2026-11-05 21:07:06.486] [info] Accepted new action goal ×2 + 4.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.392820 ms (missed cycles : 2). + 4.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.392820 ms (missed cycles : 2).[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 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (2.57e-07 s). ×2 + 0.09sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.10sINFOros2_control_node[2026-11-05 21:07:03.812] [info] Received new action goal ×2 + 0.10sINFOros2_control_node[2026-11-05 21:07:03.812] [info] Accepted new action goal ×2 + 1.92sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.92sINFOros2_control_node[2026-11-05 21:07:05.630] [info] Got request to cancel active goal. ×2 + 1.92sINFOros2_control_node[2026-11-05 21:07:05.630] [info] Canceling active goal... ×2 + 1.93sERRORobjective_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: 1793912825.64321160 seconds ×3 + 1.97sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 1.97sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 1.97sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 1.97sINFOcontroller_managerSuccessfully switched controllers! ×2 + 1.97sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 1.97sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 1.98sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 1.98sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 1.98sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 1.98sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 1.98sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 1.98sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.50sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.50sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.50sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.50sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.50sINFOobjective_server_nodecaller: ×2 + 2.50sINFOobjective_server_nodetype: 0 ×2 + 2.50sINFOobjective_server_nodename: "" ×2 + 2.50sINFOobjective_server_nodeinstance_id: "" ×2 + 2.50sINFOobjective_server_node ×2 + 2.58sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1793912826.29229426 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.58sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.58sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694230 ms (missed cycles : 2). + 2.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694230 ms (missed cycles : 2).[0m ×2 + 2.77sINFOobjective_server_nodeFound path in 0 iterations (3.45e-07 s). ×2 + 2.77sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 2.78sINFOros2_control_node[2026-11-05 21:07:06.486] [info] Received new action goal ×2 + 2.78sINFOros2_control_node[2026-11-05 21:07:06.486] [info] Accepted new action goal ×2 + 4.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.392820 ms (missed cycles : 2). + 4.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.392820 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Joint Diagnostic | joint_diagnostic.xml | 0.0s | 3 errors · 100 info |
+ 0.00sINFOobjective_server_nodeFound path in 0 iterations (2.74e-07 s). ×2 + 0.00sINFOobjective_server_nodePath shortcutter: [X__X] ×2 + 0.00sINFOobjective_server_nodeFound path in 0 iterations (1.96e-07 s). ×2 + 0.01sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 0.02sINFOobjective_server_nodeFound path in 0 iterations (1.83e-07 s). ×2 + 0.12sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X] ×2 + 0.15sINFOobjective_server_nodeFound path in 1 iterations (0.00460083 s). ×2 + 0.32sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________________________X_________________X] ×2 + 0.38sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.39sINFOros2_control_node[2026-11-05 21:07:25.772] [info] Received new action goal ×2 + 0.39sINFOros2_control_node[2026-11-05 21:07:25.772] [info] Accepted new action goal ×2 + 0.82sINFOros2_control_node[2026-11-05 21:07:26.204] [info] Received new action goal ×2 + 0.82sINFOros2_control_node[2026-11-05 21:07:26.204] [info] Accepted new action goal ×2 + 2.14sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.14sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.34sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.35sINFOrobotiq_gripper_controllerGot request to cancel goal + 2.35sINFOrobotiq_gripper_controllerCanceling active action goal because cancel callback received. + 2.35sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 2.35sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 2.39sERRORobjective_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: 1793912847.76966691 seconds ×3 + 2.39sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.39sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.39sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.39sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.39sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.39sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.40sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.40sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.40sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.40sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.41sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.41sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Live Surface Coverage Demo"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.07sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.07sINFOobjective_server_nodeobjective_name: "Live Surface Coverage Demo" ×2 + 3.07sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.07sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.07sINFOobjective_server_nodecaller: ×2 + 3.07sINFOobjective_server_nodetype: 0 ×2 + 3.07sINFOobjective_server_nodename: "" ×2 + 3.07sINFOobjective_server_nodeinstance_id: "" ×2 + 3.07sINFOobjective_server_node ×2 + 3.20sINFOobjective_server_nodeObjective `Live Surface Coverage Demo` starting at time: 1793912848.58027005 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.21sINFOobjective_server_nodeFound path in 0 iterations (3.02e-07 s). ×2 + 4.21sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.22sINFOros2_control_node[2026-11-05 21:07:29.604] [info] Received new action goal ×2 + 4.22sINFOros2_control_node[2026-11-05 21:07:29.604] [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: 1793912879.39483762 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: 1793912879.98786545 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 3.351259 ms (missed cycles : 3). + 0.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.351259 ms (missed cycles : 3).[0m ×2 + 0.66sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1793912880.05806208 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 + 1.47sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1793912880.86197138 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.48sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 1.57sINFOobjective_server_nodeFound path in 0 iterations (2.87e-07 s). ×2 + 1.57sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.58sINFOros2_control_node[2026-11-05 21:08:00.976] [info] Received new action goal ×2 + 1.58sINFOros2_control_node[2026-11-05 21:08:00.976] [info] Accepted new action goal ×2 + 3.59sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1793912882.98213291 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 + 0.07sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1793912880.86197138 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.08sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.18sINFOobjective_server_nodeFound path in 0 iterations (2.87e-07 s). ×2 + 0.18sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.19sINFOros2_control_node[2026-11-05 21:08:00.976] [info] Received new action goal ×2 + 0.19sINFOros2_control_node[2026-11-05 21:08:00.976] [info] Accepted new action goal ×2 + 2.19sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1793912882.98213291 seconds ×3 + 3.20sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.20sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.21sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.74sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.82sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1793912884.60976672 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.82sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.90sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.91sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.18sINFOobjective_server_nodeFound path in 0 iterations (2.11e-07 s). ×2 + 4.19sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.24sINFOros2_control_node[2026-11-05 21:08:05.028] [info] Received new action goal ×2 + 4.24sINFOros2_control_node[2026-11-05 21:08:05.028] [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 + 0.07sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1793912880.86197138 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.08sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.18sINFOobjective_server_nodeFound path in 0 iterations (2.87e-07 s). ×2 + 0.18sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.19sINFOros2_control_node[2026-11-05 21:08:00.976] [info] Received new action goal ×2 + 0.19sINFOros2_control_node[2026-11-05 21:08:00.976] [info] Accepted new action goal ×2 + 2.19sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1793912882.98213291 seconds ×3 + 3.20sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.20sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.21sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.74sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.82sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1793912884.60976672 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.82sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.90sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.91sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.18sINFOobjective_server_nodeFound path in 0 iterations (2.11e-07 s). ×2 + 4.19sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.24sINFOros2_control_node[2026-11-05 21:08:05.028] [info] Received new action goal ×2 + 4.24sINFOros2_control_node[2026-11-05 21:08:05.028] [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 + 0.07sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1793912880.86197138 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.08sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.18sINFOobjective_server_nodeFound path in 0 iterations (2.87e-07 s). ×2 + 0.18sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.19sINFOros2_control_node[2026-11-05 21:08:00.976] [info] Received new action goal ×2 + 0.19sINFOros2_control_node[2026-11-05 21:08:00.976] [info] Accepted new action goal ×2 + 2.19sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1793912882.98213291 seconds ×3 + 3.20sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.20sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.21sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.74sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.82sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1793912884.60976672 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.82sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.90sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.91sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.18sINFOobjective_server_nodeFound path in 0 iterations (2.11e-07 s). ×2 + 4.19sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.24sINFOros2_control_node[2026-11-05 21:08:05.028] [info] Received new action goal ×2 + 4.24sINFOros2_control_node[2026-11-05 21:08:05.028] [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 + 0.07sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1793912880.86197138 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.08sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.18sINFOobjective_server_nodeFound path in 0 iterations (2.87e-07 s). ×2 + 0.18sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.19sINFOros2_control_node[2026-11-05 21:08:00.976] [info] Received new action goal ×2 + 0.19sINFOros2_control_node[2026-11-05 21:08:00.976] [info] Accepted new action goal ×2 + 2.19sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1793912882.98213291 seconds ×3 + 3.20sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.20sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.21sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.74sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.82sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1793912884.60976672 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.82sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.90sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.91sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.18sINFOobjective_server_nodeFound path in 0 iterations (2.11e-07 s). ×2 + 4.19sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.24sINFOros2_control_node[2026-11-05 21:08:05.028] [info] Received new action goal ×2 + 4.24sINFOros2_control_node[2026-11-05 21:08:05.028] [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 + 0.07sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1793912880.86197138 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.08sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.18sINFOobjective_server_nodeFound path in 0 iterations (2.87e-07 s). ×2 + 0.18sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.19sINFOros2_control_node[2026-11-05 21:08:00.976] [info] Received new action goal ×2 + 0.19sINFOros2_control_node[2026-11-05 21:08:00.976] [info] Accepted new action goal ×2 + 2.19sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1793912882.98213291 seconds ×3 + 3.20sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.20sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.21sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.74sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.82sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1793912884.60976672 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.82sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.90sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.91sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.18sINFOobjective_server_nodeFound path in 0 iterations (2.11e-07 s). ×2 + 4.19sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.24sINFOros2_control_node[2026-11-05 21:08:05.028] [info] Received new action goal ×2 + 4.24sINFOros2_control_node[2026-11-05 21:08:05.028] [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 + 0.07sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1793912880.86197138 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.08sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.18sINFOobjective_server_nodeFound path in 0 iterations (2.87e-07 s). ×2 + 0.18sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.19sINFOros2_control_node[2026-11-05 21:08:00.976] [info] Received new action goal ×2 + 0.19sINFOros2_control_node[2026-11-05 21:08:00.976] [info] Accepted new action goal ×2 + 2.19sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1793912882.98213291 seconds ×3 + 3.20sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.20sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.21sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.74sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.82sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1793912884.60976672 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.82sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.90sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.91sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.18sINFOobjective_server_nodeFound path in 0 iterations (2.11e-07 s). ×2 + 4.19sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.24sINFOros2_control_node[2026-11-05 21:08:05.028] [info] Received new action goal ×2 + 4.24sINFOros2_control_node[2026-11-05 21:08:05.028] [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 + 0.07sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1793912880.86197138 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.08sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.18sINFOobjective_server_nodeFound path in 0 iterations (2.87e-07 s). ×2 + 0.18sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.19sINFOros2_control_node[2026-11-05 21:08:00.976] [info] Received new action goal ×2 + 0.19sINFOros2_control_node[2026-11-05 21:08:00.976] [info] Accepted new action goal ×2 + 2.19sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1793912882.98213291 seconds ×3 + 3.20sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.20sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.21sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.74sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.82sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1793912884.60976672 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.82sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.90sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.91sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.18sINFOobjective_server_nodeFound path in 0 iterations (2.11e-07 s). ×2 + 4.19sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.24sINFOros2_control_node[2026-11-05 21:08:05.028] [info] Received new action goal ×2 + 4.24sINFOros2_control_node[2026-11-05 21:08:05.028] [info] Accepted new action goal ×2 | ||||
| − skipped | MPC Pose Tracking | mpc_pose_tracking.xml | 0.0s | 9 warnings · 690 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.553411 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.553411 ms (missed cycles : 4).[0m ×2 + 1.67sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1793912938.34351254 seconds ×3 + 1.68sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 1.68sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 1.68sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 1.68sINFOcontroller_managerSuccessfully switched controllers! ×3 + 1.68sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 1.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 1.68sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 1.69sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 1.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 1.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 1.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 1.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.21sINFOobjective_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: ""
+ 2.21sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.21sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample" ×2 + 2.21sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.21sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.21sINFOobjective_server_nodecaller: ×2 + 2.21sINFOobjective_server_nodetype: 0 ×2 + 2.21sINFOobjective_server_nodename: "" ×2 + 2.21sINFOobjective_server_nodeinstance_id: "" ×2 + 2.21sINFOobjective_server_node ×2 + 2.29sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1793912938.95995760 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.34sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 2.44sINFOobjective_server_nodeFound path in 0 iterations (2.63e-07 s). ×2 + 2.44sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 2.45sINFOros2_control_node[2026-11-05 21:08:59.124] [info] Received new action goal ×2 + 2.45sINFOros2_control_node[2026-11-05 21:08:59.124] [info] Accepted new action goal ×2 + 3.72sINFOobjective_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 + 3.72sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 3.80sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×3 + 3.80sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.80sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] + 3.80sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.80sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.81sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] + 3.81sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 3.81sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.837250 ms (missed cycles : 2). + 3.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.837250 ms (missed cycles : 2).[0m ×2 + 4.48sINFOjoint_trajectory_controllerReceived new action goal ×101 + 4.48sINFOjoint_trajectory_controllerAccepted new action goal ×101 + 4.48sINFOros2_control_nodeReceived new action goal[0m ×202 + 4.48sINFOros2_control_nodeAccepted new action goal[0m ×202 + 5.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.996890 ms (missed cycles : 2). + 5.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.996890 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | MPC Pose Tracking With Point Cloud Avoidance | mpc_pose_tracking_with_point_cloud_avoidance.xml | 0.0s | 9 warnings · 2266 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×363 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×363 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×726 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×726 + 1.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.971261 ms (missed cycles : 2). + 1.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.971261 ms (missed cycles : 2).[0m ×2 + 2.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.816140 ms (missed cycles : 2). + 2.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.816140 ms (missed cycles : 2).[0m ×2 + 3.32sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1793912990.95892644 seconds ×3 + 3.32sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.32sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.33sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.33sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.42sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.42sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.42sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.42sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.43sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.43sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.43sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.43sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.44sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.44sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object With Approval"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.96sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.96sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.96sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.96sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.96sINFOobjective_server_nodecaller: ×2 + 3.96sINFOobjective_server_nodetype: 0 ×2 + 3.96sINFOobjective_server_nodename: "" ×2 + 3.96sINFOobjective_server_nodeinstance_id: "" ×2 + 3.96sINFOobjective_server_node ×2 + 4.06sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1793912991.70312858 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.07sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.07sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.16sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.16sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.16sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.16sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.16sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.16sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.16sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.16sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.16sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.25sINFOobjective_server_nodeFound path in 0 iterations (2.82e-07 s). ×2 + 4.25sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.26sINFOros2_control_node[2026-11-05 21:09:51.897] [info] Received new action goal ×2 + 4.26sINFOros2_control_node[2026-11-05 21:09:51.897] [info] Accepted new action goal ×2 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.207690 ms (missed cycles : 4). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.207690 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Octomap Example | octomap_example.xml | 0.0s | 9 warnings · 2266 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×363 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×363 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×726 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×726 + 1.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.971261 ms (missed cycles : 2). + 1.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.971261 ms (missed cycles : 2).[0m ×2 + 2.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.816140 ms (missed cycles : 2). + 2.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.816140 ms (missed cycles : 2).[0m ×2 + 3.32sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1793912990.95892644 seconds ×3 + 3.32sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.32sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.33sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.33sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.42sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.42sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.42sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.42sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.43sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.43sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.43sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.43sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.44sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.44sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object With Approval"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.96sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.96sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.96sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.96sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.96sINFOobjective_server_nodecaller: ×2 + 3.96sINFOobjective_server_nodetype: 0 ×2 + 3.96sINFOobjective_server_nodename: "" ×2 + 3.96sINFOobjective_server_nodeinstance_id: "" ×2 + 3.96sINFOobjective_server_node ×2 + 4.06sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1793912991.70312858 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.07sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.07sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.16sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.16sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.16sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.16sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.16sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.16sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.16sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.16sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.16sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.25sINFOobjective_server_nodeFound path in 0 iterations (2.82e-07 s). ×2 + 4.25sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.26sINFOros2_control_node[2026-11-05 21:09:51.897] [info] Received new action goal ×2 + 4.26sINFOros2_control_node[2026-11-05 21:09:51.897] [info] Accepted new action goal ×2 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.207690 ms (missed cycles : 4). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.207690 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Pick 1 Pill Bottle with SAM3 | pick_1_pill_bottle_with_sam3.xml | 0.0s | 9 warnings · 2266 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×363 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×363 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×726 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×726 + 1.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.971261 ms (missed cycles : 2). + 1.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.971261 ms (missed cycles : 2).[0m ×2 + 2.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.816140 ms (missed cycles : 2). + 2.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.816140 ms (missed cycles : 2).[0m ×2 + 3.32sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1793912990.95892644 seconds ×3 + 3.32sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.32sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.33sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.33sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.42sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.42sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.42sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.42sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.43sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.43sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.43sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.43sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.44sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.44sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object With Approval"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.96sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.96sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.96sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.96sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.96sINFOobjective_server_nodecaller: ×2 + 3.96sINFOobjective_server_nodetype: 0 ×2 + 3.96sINFOobjective_server_nodename: "" ×2 + 3.96sINFOobjective_server_nodeinstance_id: "" ×2 + 3.96sINFOobjective_server_node ×2 + 4.06sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1793912991.70312858 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.07sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.07sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.16sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.16sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.16sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.16sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.16sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.16sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.16sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.16sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.16sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.25sINFOobjective_server_nodeFound path in 0 iterations (2.82e-07 s). ×2 + 4.25sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.26sINFOros2_control_node[2026-11-05 21:09:51.897] [info] Received new action goal ×2 + 4.26sINFOros2_control_node[2026-11-05 21:09:51.897] [info] Accepted new action goal ×2 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.207690 ms (missed cycles : 4). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.207690 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Pick All Bottles with AprilTags | pick_all_bottles_with_apriltags.xml | 0.0s | 9 warnings · 2266 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×363 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×363 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×726 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×726 + 1.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.971261 ms (missed cycles : 2). + 1.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.971261 ms (missed cycles : 2).[0m ×2 + 2.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.816140 ms (missed cycles : 2). + 2.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.816140 ms (missed cycles : 2).[0m ×2 + 3.32sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1793912990.95892644 seconds ×3 + 3.32sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.32sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.33sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.33sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.42sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.42sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.42sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.42sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.43sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.43sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.43sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.43sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.44sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.44sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object With Approval"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.96sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.96sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.96sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.96sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.96sINFOobjective_server_nodecaller: ×2 + 3.96sINFOobjective_server_nodetype: 0 ×2 + 3.96sINFOobjective_server_nodename: "" ×2 + 3.96sINFOobjective_server_nodeinstance_id: "" ×2 + 3.96sINFOobjective_server_node ×2 + 4.06sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1793912991.70312858 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.07sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.07sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.16sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.16sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.16sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.16sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.16sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.16sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.16sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.16sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.16sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.25sINFOobjective_server_nodeFound path in 0 iterations (2.82e-07 s). ×2 + 4.25sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.26sINFOros2_control_node[2026-11-05 21:09:51.897] [info] Received new action goal ×2 + 4.26sINFOros2_control_node[2026-11-05 21:09:51.897] [info] Accepted new action goal ×2 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.207690 ms (missed cycles : 4). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.207690 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Pick All Pill Bottles | pick_all_pill_bottles.xml | 0.0s | 9 warnings · 2266 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×363 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×363 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×726 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×726 + 1.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.971261 ms (missed cycles : 2). + 1.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.971261 ms (missed cycles : 2).[0m ×2 + 2.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.816140 ms (missed cycles : 2). + 2.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.816140 ms (missed cycles : 2).[0m ×2 + 3.32sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1793912990.95892644 seconds ×3 + 3.32sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.32sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.33sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.33sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.42sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.42sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.42sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.42sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.43sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.43sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.43sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.43sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.44sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.44sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object With Approval"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.96sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.96sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.96sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.96sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.96sINFOobjective_server_nodecaller: ×2 + 3.96sINFOobjective_server_nodetype: 0 ×2 + 3.96sINFOobjective_server_nodename: "" ×2 + 3.96sINFOobjective_server_nodeinstance_id: "" ×2 + 3.96sINFOobjective_server_node ×2 + 4.06sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1793912991.70312858 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.07sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.07sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.16sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.16sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.16sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.16sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.16sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.16sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.16sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.16sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.16sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.25sINFOobjective_server_nodeFound path in 0 iterations (2.82e-07 s). ×2 + 4.25sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.26sINFOros2_control_node[2026-11-05 21:09:51.897] [info] Received new action goal ×2 + 4.26sINFOros2_control_node[2026-11-05 21:09:51.897] [info] Accepted new action goal ×2 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.207690 ms (missed cycles : 4). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.207690 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Pick from AprilTag Detections | pick_from_apriltag_detections.xml | 0.0s | 74 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[2026-11-05 21:09:59.877] [info] Received new action goal ×2 + 0.37sINFOros2_control_node[2026-11-05 21:09:59.877] [info] Accepted new action goal ×2 + 1.67sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1793913001.17342687 seconds ×3 + 2.66sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.66sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.66sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.66sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.66sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.66sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.67sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.67sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.67sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.67sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.67sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.19sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.19sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.19sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.19sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.19sINFOobjective_server_nodecaller: ×2 + 3.19sINFOobjective_server_nodetype: 0 ×2 + 3.19sINFOobjective_server_nodename: "" ×2 + 3.19sINFOobjective_server_nodeinstance_id: "" ×2 + 3.19sINFOobjective_server_node ×2 + 3.28sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1793913002.79057908 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.36sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.45sINFOobjective_server_nodeFound path in 0 iterations (2.32e-07 s). ×2 + 3.45sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.46sINFOros2_control_node[2026-11-05 21:10:02.964] [info] Received new action goal ×2 + 3.46sINFOros2_control_node[2026-11-05 21:10:02.964] [info] Accepted new action goal ×2 + 5.37sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − skipped | Pick from Pose | pick_from_pose.xml | 0.0s | 74 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[2026-11-05 21:09:59.877] [info] Received new action goal ×2 + 0.37sINFOros2_control_node[2026-11-05 21:09:59.877] [info] Accepted new action goal ×2 + 1.67sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1793913001.17342687 seconds ×3 + 2.66sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.66sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.66sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.66sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.66sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.66sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.67sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.67sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.67sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.67sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.67sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.19sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.19sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.19sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.19sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.19sINFOobjective_server_nodecaller: ×2 + 3.19sINFOobjective_server_nodetype: 0 ×2 + 3.19sINFOobjective_server_nodename: "" ×2 + 3.19sINFOobjective_server_nodeinstance_id: "" ×2 + 3.19sINFOobjective_server_node ×2 + 3.28sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1793913002.79057908 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.36sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.45sINFOobjective_server_nodeFound path in 0 iterations (2.32e-07 s). ×2 + 3.45sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.46sINFOros2_control_node[2026-11-05 21:10:02.964] [info] Received new action goal ×2 + 3.46sINFOros2_control_node[2026-11-05 21:10:02.964] [info] Accepted new action goal ×2 + 5.37sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − skipped | Pick from Pose Vector | pick_from_pose_vector.xml | 0.0s | 74 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[2026-11-05 21:09:59.877] [info] Received new action goal ×2 + 0.37sINFOros2_control_node[2026-11-05 21:09:59.877] [info] Accepted new action goal ×2 + 1.67sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1793913001.17342687 seconds ×3 + 2.66sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.66sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.66sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.66sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.66sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.66sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.67sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.67sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.67sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.67sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.67sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.19sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.19sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.19sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.19sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.19sINFOobjective_server_nodecaller: ×2 + 3.19sINFOobjective_server_nodetype: 0 ×2 + 3.19sINFOobjective_server_nodename: "" ×2 + 3.19sINFOobjective_server_nodeinstance_id: "" ×2 + 3.19sINFOobjective_server_node ×2 + 3.28sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1793913002.79057908 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.36sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.45sINFOobjective_server_nodeFound path in 0 iterations (2.32e-07 s). ×2 + 3.45sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.46sINFOros2_control_node[2026-11-05 21:10:02.964] [info] Received new action goal ×2 + 3.46sINFOros2_control_node[2026-11-05 21:10:02.964] [info] Accepted new action goal ×2 + 5.37sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − skipped | Pick from Pose With Approval | pick_from_pose_with_approval.xml | 0.0s | 74 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[2026-11-05 21:09:59.877] [info] Received new action goal ×2 + 0.37sINFOros2_control_node[2026-11-05 21:09:59.877] [info] Accepted new action goal ×2 + 1.67sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1793913001.17342687 seconds ×3 + 2.66sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.66sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.66sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.66sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.66sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.66sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.67sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.67sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.67sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.67sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.67sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.19sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.19sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.19sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.19sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.19sINFOobjective_server_nodecaller: ×2 + 3.19sINFOobjective_server_nodetype: 0 ×2 + 3.19sINFOobjective_server_nodename: "" ×2 + 3.19sINFOobjective_server_nodeinstance_id: "" ×2 + 3.19sINFOobjective_server_node ×2 + 3.28sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1793913002.79057908 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.36sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.45sINFOobjective_server_nodeFound path in 0 iterations (2.32e-07 s). ×2 + 3.45sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.46sINFOros2_control_node[2026-11-05 21:10:02.964] [info] Received new action goal ×2 + 3.46sINFOros2_control_node[2026-11-05 21:10:02.964] [info] Accepted new action goal ×2 + 5.37sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − skipped | Pick up Object | pick_up_cube.xml | 0.0s | 74 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[2026-11-05 21:09:59.877] [info] Received new action goal ×2 + 0.37sINFOros2_control_node[2026-11-05 21:09:59.877] [info] Accepted new action goal ×2 + 1.67sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1793913001.17342687 seconds ×3 + 2.66sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.66sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.66sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.66sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.66sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.66sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.67sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.67sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.67sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.67sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.67sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.19sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.19sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.19sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.19sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.19sINFOobjective_server_nodecaller: ×2 + 3.19sINFOobjective_server_nodetype: 0 ×2 + 3.19sINFOobjective_server_nodename: "" ×2 + 3.19sINFOobjective_server_nodeinstance_id: "" ×2 + 3.19sINFOobjective_server_node ×2 + 3.28sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1793913002.79057908 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.36sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.45sINFOobjective_server_nodeFound path in 0 iterations (2.32e-07 s). ×2 + 3.45sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.46sINFOros2_control_node[2026-11-05 21:10:02.964] [info] Received new action goal ×2 + 3.46sINFOros2_control_node[2026-11-05 21:10:02.964] [info] Accepted new action goal ×2 + 5.37sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − skipped | Place at Pose | place_at_pose.xml | 0.0s | 74 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[2026-11-05 21:09:59.877] [info] Received new action goal ×2 + 0.37sINFOros2_control_node[2026-11-05 21:09:59.877] [info] Accepted new action goal ×2 + 1.67sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1793913001.17342687 seconds ×3 + 2.66sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.66sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.66sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.66sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.66sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.66sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.67sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.67sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.67sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.67sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.67sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.19sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.19sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.19sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.19sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.19sINFOobjective_server_nodecaller: ×2 + 3.19sINFOobjective_server_nodetype: 0 ×2 + 3.19sINFOobjective_server_nodename: "" ×2 + 3.19sINFOobjective_server_nodeinstance_id: "" ×2 + 3.19sINFOobjective_server_node ×2 + 3.28sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1793913002.79057908 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.36sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.45sINFOobjective_server_nodeFound path in 0 iterations (2.32e-07 s). ×2 + 3.45sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.46sINFOros2_control_node[2026-11-05 21:10:02.964] [info] Received new action goal ×2 + 3.46sINFOros2_control_node[2026-11-05 21:10:02.964] [info] Accepted new action goal ×2 + 5.37sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − skipped | Place at Pose Vector | place_at_pose_vector.xml | 0.0s | 74 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[2026-11-05 21:09:59.877] [info] Received new action goal ×2 + 0.37sINFOros2_control_node[2026-11-05 21:09:59.877] [info] Accepted new action goal ×2 + 1.67sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1793913001.17342687 seconds ×3 + 2.66sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.66sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.66sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.66sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.66sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.66sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.67sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.67sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.67sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.67sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.67sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.19sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.19sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.19sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.19sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.19sINFOobjective_server_nodecaller: ×2 + 3.19sINFOobjective_server_nodetype: 0 ×2 + 3.19sINFOobjective_server_nodename: "" ×2 + 3.19sINFOobjective_server_nodeinstance_id: "" ×2 + 3.19sINFOobjective_server_node ×2 + 3.28sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1793913002.79057908 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.36sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.45sINFOobjective_server_nodeFound path in 0 iterations (2.32e-07 s). ×2 + 3.45sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.46sINFOros2_control_node[2026-11-05 21:10:02.964] [info] Received new action goal ×2 + 3.46sINFOros2_control_node[2026-11-05 21:10:02.964] [info] Accepted new action goal ×2 + 5.37sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − skipped | Place at Pose with Approval | place_at_pose_with_approval.xml | 0.0s | 74 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[2026-11-05 21:09:59.877] [info] Received new action goal ×2 + 0.37sINFOros2_control_node[2026-11-05 21:09:59.877] [info] Accepted new action goal ×2 + 1.67sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1793913001.17342687 seconds ×3 + 2.66sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.66sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.66sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.66sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.66sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.66sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.67sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.67sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.67sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.67sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.67sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.19sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.19sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.19sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.19sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.19sINFOobjective_server_nodecaller: ×2 + 3.19sINFOobjective_server_nodetype: 0 ×2 + 3.19sINFOobjective_server_nodename: "" ×2 + 3.19sINFOobjective_server_nodeinstance_id: "" ×2 + 3.19sINFOobjective_server_node ×2 + 3.28sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1793913002.79057908 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.36sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.45sINFOobjective_server_nodeFound path in 0 iterations (2.32e-07 s). ×2 + 3.45sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.46sINFOros2_control_node[2026-11-05 21:10:02.964] [info] Received new action goal ×2 + 3.46sINFOros2_control_node[2026-11-05 21:10:02.964] [info] Accepted new action goal ×2 + 5.37sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − skipped | Place Object | place_object.xml | 0.0s | 74 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[2026-11-05 21:09:59.877] [info] Received new action goal ×2 + 0.37sINFOros2_control_node[2026-11-05 21:09:59.877] [info] Accepted new action goal ×2 + 1.67sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1793913001.17342687 seconds ×3 + 2.66sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.66sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.66sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.66sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.66sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.66sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.67sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.67sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.67sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.67sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.67sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.19sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.19sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.19sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.19sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.19sINFOobjective_server_nodecaller: ×2 + 3.19sINFOobjective_server_nodetype: 0 ×2 + 3.19sINFOobjective_server_nodename: "" ×2 + 3.19sINFOobjective_server_nodeinstance_id: "" ×2 + 3.19sINFOobjective_server_node ×2 + 3.28sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1793913002.79057908 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.36sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.45sINFOobjective_server_nodeFound path in 0 iterations (2.32e-07 s). ×2 + 3.45sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.46sINFOros2_control_node[2026-11-05 21:10:02.964] [info] Received new action goal ×2 + 3.46sINFOros2_control_node[2026-11-05 21:10:02.964] [info] Accepted new action goal ×2 + 5.37sINFOobjective_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 + 0.00sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan and Save Trajectory` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1793913013.13104200 seconds ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 0.04sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 0.04sINFOcontroller_managerSuccessfully switched controllers! ×2 + 0.04sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×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 + 0.05sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 0.05sINFOros2_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: 1793913013.76013637 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.81sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 0.92sINFOobjective_server_nodeFound path in 0 iterations (4.29e-07 s). ×2 + 0.93sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 0.94sINFOros2_control_node[2026-11-05 21:10:14.065] [info] Received new action goal ×2 + 0.94sINFOros2_control_node[2026-11-05 21:10:14.065] [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: 1793913023.65862250 seconds ×3 + 0.01sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 0.01sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 0.01sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×2 + 0.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 0.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 0.01sINFOros2_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 + 0.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 0.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 0.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Record and Replay Scanning Motion"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.54sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 0.54sINFOobjective_server_nodeobjective_name: "Record and Replay Scanning Motion" ×2 + 0.54sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 0.54sINFOobjective_server_nodeparameter_overrides: [] ×2 + 0.54sINFOobjective_server_nodecaller: ×2 + 0.54sINFOobjective_server_nodetype: 0 ×2 + 0.54sINFOobjective_server_nodename: "" ×2 + 0.54sINFOobjective_server_nodeinstance_id: "" ×2 + 0.54sINFOobjective_server_node ×2 + 0.61sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1793913024.27311492 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.63sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 0.72sINFOobjective_server_nodeFound path in 0 iterations (3.69e-07 s). ×2 + 0.73sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 0.74sINFOros2_control_node[2026-11-05 21:10:24.397] [info] Received new action goal ×2 + 0.74sINFOros2_control_node[2026-11-05 21:10:24.397] [info] Accepted new action goal ×2 + 2.65sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − skipped | Reflect Poses Subtree | reflect_poses_subtree.xml | 0.0s | 3 warnings · 190 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.01% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.58sINFOobjective_server_nodeObjective `Record Surface Coverage Demo` succeeded at time: 1793913079.47151542 seconds ×3 + 1.68sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.68sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.68sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.68sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.68sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.69sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.69sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.22sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.22sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 2.22sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.22sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.22sINFOobjective_server_nodecaller: ×6 + 2.22sINFOobjective_server_nodetype: 0 ×6 + 2.22sINFOobjective_server_nodename: "" ×6 + 2.22sINFOobjective_server_nodeinstance_id: "" ×6 + 2.22sINFOobjective_server_node ×6 + 2.44sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1793913080.32983279 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.48sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.48sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.50sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.50sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.739311 ms (missed cycles : 3). + 2.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.739311 ms (missed cycles : 3).[0m ×2 + 2.52sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1793913080.40999460 seconds ×3 + 3.06sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.06sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 3.12sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1793913081.01453948 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.14sINFOobjective_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 + 3.14sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1793913081.03606725 seconds ×3 + 3.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.78sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 3.85sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1793913081.73876190 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.86sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.95sINFOobjective_server_nodeFound path in 0 iterations (2.89e-07 s). ×2 + 3.95sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 3.96sINFOros2_control_node[2026-11-05 21:11:21.853] [info] Received new action goal ×2 + 3.96sINFOros2_control_node[2026-11-05 21:11:21.853] [info] Accepted new action goal ×2 | ||||
| − skipped | Register CAD Part | register_cad_part.xml | 0.0s | 3 warnings · 190 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.01% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.58sINFOobjective_server_nodeObjective `Record Surface Coverage Demo` succeeded at time: 1793913079.47151542 seconds ×3 + 1.68sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.68sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.68sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.68sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.68sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.69sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.69sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.22sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.22sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 2.22sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.22sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.22sINFOobjective_server_nodecaller: ×6 + 2.22sINFOobjective_server_nodetype: 0 ×6 + 2.22sINFOobjective_server_nodename: "" ×6 + 2.22sINFOobjective_server_nodeinstance_id: "" ×6 + 2.22sINFOobjective_server_node ×6 + 2.44sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1793913080.32983279 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.48sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.48sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.50sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.50sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.739311 ms (missed cycles : 3). + 2.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.739311 ms (missed cycles : 3).[0m ×2 + 2.52sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1793913080.40999460 seconds ×3 + 3.06sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.06sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 3.12sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1793913081.01453948 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.14sINFOobjective_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 + 3.14sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1793913081.03606725 seconds ×3 + 3.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.78sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 3.85sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1793913081.73876190 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.86sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.95sINFOobjective_server_nodeFound path in 0 iterations (2.89e-07 s). ×2 + 3.95sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 3.96sINFOros2_control_node[2026-11-05 21:11:21.853] [info] Received new action goal ×2 + 3.96sINFOros2_control_node[2026-11-05 21:11:21.853] [info] Accepted new action goal ×2 | ||||
| − skipped | Scan Scene - Multiple Point Clouds | scan_scene_-_multiple_point_clouds.xml | 0.0s | 3 warnings · 193 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.01% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.58sINFOobjective_server_nodeObjective `Record Surface Coverage Demo` succeeded at time: 1793913079.47151542 seconds ×3 + 1.68sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.68sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.68sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.68sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.68sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.69sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.69sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.22sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.22sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 2.22sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.22sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.22sINFOobjective_server_nodecaller: ×6 + 2.22sINFOobjective_server_nodetype: 0 ×6 + 2.22sINFOobjective_server_nodename: "" ×6 + 2.22sINFOobjective_server_nodeinstance_id: "" ×6 + 2.22sINFOobjective_server_node ×6 + 2.44sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1793913080.32983279 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.48sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.48sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.50sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.50sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.739311 ms (missed cycles : 3). + 2.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.739311 ms (missed cycles : 3).[0m ×2 + 2.52sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1793913080.40999460 seconds ×3 + 3.06sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.06sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 3.12sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1793913081.01453948 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.14sINFOobjective_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 + 3.14sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1793913081.03606725 seconds ×3 + 3.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.78sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 3.85sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1793913081.73876190 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.86sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.95sINFOobjective_server_nodeFound path in 0 iterations (2.89e-07 s). ×2 + 3.95sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 3.96sINFOros2_control_node[2026-11-05 21:11:21.853] [info] Received new action goal ×2 + 3.96sINFOros2_control_node[2026-11-05 21:11:21.853] [info] Accepted new action goal ×2 | ||||
| − skipped | Segment Bottle Subtree | segment_bottle_subtree.xml | 0.0s | 3 warnings · 193 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.01% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.58sINFOobjective_server_nodeObjective `Record Surface Coverage Demo` succeeded at time: 1793913079.47151542 seconds ×3 + 1.68sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.68sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.68sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.68sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.68sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.69sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.69sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.22sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.22sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 2.22sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.22sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.22sINFOobjective_server_nodecaller: ×6 + 2.22sINFOobjective_server_nodetype: 0 ×6 + 2.22sINFOobjective_server_nodename: "" ×6 + 2.22sINFOobjective_server_nodeinstance_id: "" ×6 + 2.22sINFOobjective_server_node ×6 + 2.44sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1793913080.32983279 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.48sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.48sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.50sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.50sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.739311 ms (missed cycles : 3). + 2.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.739311 ms (missed cycles : 3).[0m ×2 + 2.52sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1793913080.40999460 seconds ×3 + 3.06sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.06sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 3.12sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1793913081.01453948 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.14sINFOobjective_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 + 3.14sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1793913081.03606725 seconds ×3 + 3.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.78sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 3.85sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1793913081.73876190 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.86sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.95sINFOobjective_server_nodeFound path in 0 iterations (2.89e-07 s). ×2 + 3.95sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 3.96sINFOros2_control_node[2026-11-05 21:11:21.853] [info] Received new action goal ×2 + 3.96sINFOros2_control_node[2026-11-05 21:11:21.853] [info] Accepted new action goal ×2 | ||||
| − skipped | Select Region and Record Coverage | select_region_and_record_coverage.xml | 0.0s | 3 warnings · 193 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.01% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.58sINFOobjective_server_nodeObjective `Record Surface Coverage Demo` succeeded at time: 1793913079.47151542 seconds ×3 + 1.68sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.68sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.68sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.68sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.68sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.69sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.69sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.22sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.22sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 2.22sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.22sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.22sINFOobjective_server_nodecaller: ×6 + 2.22sINFOobjective_server_nodetype: 0 ×6 + 2.22sINFOobjective_server_nodename: "" ×6 + 2.22sINFOobjective_server_nodeinstance_id: "" ×6 + 2.22sINFOobjective_server_node ×6 + 2.44sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1793913080.32983279 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.48sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.48sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.50sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.50sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.739311 ms (missed cycles : 3). + 2.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.739311 ms (missed cycles : 3).[0m ×2 + 2.52sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1793913080.40999460 seconds ×3 + 3.06sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.06sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 3.12sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1793913081.01453948 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.14sINFOobjective_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 + 3.14sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1793913081.03606725 seconds ×3 + 3.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.78sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 3.85sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1793913081.73876190 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.86sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.95sINFOobjective_server_nodeFound path in 0 iterations (2.89e-07 s). ×2 + 3.95sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 3.96sINFOros2_control_node[2026-11-05 21:11:21.853] [info] Received new action goal ×2 + 3.96sINFOros2_control_node[2026-11-05 21:11:21.853] [info] Accepted new action goal ×2 | ||||
| − skipped | Select Region for Coverage Path | select_region_for_coverage_path.xml | 0.0s | 3 warnings · 193 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.01% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.58sINFOobjective_server_nodeObjective `Record Surface Coverage Demo` succeeded at time: 1793913079.47151542 seconds ×3 + 1.68sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.68sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.68sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.68sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.68sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.69sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.69sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.22sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.22sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 2.22sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.22sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.22sINFOobjective_server_nodecaller: ×6 + 2.22sINFOobjective_server_nodetype: 0 ×6 + 2.22sINFOobjective_server_nodename: "" ×6 + 2.22sINFOobjective_server_nodeinstance_id: "" ×6 + 2.22sINFOobjective_server_node ×6 + 2.44sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1793913080.32983279 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.48sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.48sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.50sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.50sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.739311 ms (missed cycles : 3). + 2.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.739311 ms (missed cycles : 3).[0m ×2 + 2.52sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1793913080.40999460 seconds ×3 + 3.06sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.06sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 3.12sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1793913081.01453948 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.14sINFOobjective_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 + 3.14sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1793913081.03606725 seconds ×3 + 3.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.78sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 3.85sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1793913081.73876190 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.86sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.95sINFOobjective_server_nodeFound path in 0 iterations (2.89e-07 s). ×2 + 3.95sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 3.96sINFOros2_control_node[2026-11-05 21:11:21.853] [info] Received new action goal ×2 + 3.96sINFOros2_control_node[2026-11-05 21:11:21.853] [info] Accepted new action goal ×2 | ||||
| − skipped | Stitch Multiple Point Clouds Together | stitch_multiple_point_clouds_together.xml | 0.0s | 3 errors · 14 warnings · 138 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[2026-11-05 21:11:32.129] [info] Got request to cancel active goal. ×2 + 0.00sINFOros2_control_node[2026-11-05 21:11:32.129] [info] Canceling active goal... ×2 + 0.01sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1793913092.13343644 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 ×6 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×6 + 0.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 0.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 0.02sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 0.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 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: ×4 + 0.55sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×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 + 0.60sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1793913092.73120546 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.886127 ms (missed cycles : 4). + 0.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.886127 ms (missed cycles : 4).[0m ×2 + 1.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.187276 ms (missed cycles : 2). + 1.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.187276 ms (missed cycles : 2).[0m ×2 + 2.03sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.00 s). The render path has stopped producing new frames for them.[0m ×2 + 2.38sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1793913094.51140046 seconds ×3 + 2.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.873989 ms (missed cycles : 3). + 2.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.873989 ms (missed cycles : 3).[0m ×2 + 2.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.92sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 2.98sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1793913095.11086249 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.98sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 2.98sINFOobjective_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 + 2.99sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 2.99sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1793913095.11286211 seconds ×3 | ||||
| − skipped | Take Wrist Camera Image | take_picture_with_wrist_camera.xml | 0.0s | 3 errors · 14 warnings · 138 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[2026-11-05 21:11:32.129] [info] Got request to cancel active goal. ×2 + 0.00sINFOros2_control_node[2026-11-05 21:11:32.129] [info] Canceling active goal... ×2 + 0.01sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1793913092.13343644 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 ×6 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×6 + 0.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 0.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 0.02sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 0.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 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: ×4 + 0.55sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×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 + 0.60sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1793913092.73120546 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.886127 ms (missed cycles : 4). + 0.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.886127 ms (missed cycles : 4).[0m ×2 + 1.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.187276 ms (missed cycles : 2). + 1.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.187276 ms (missed cycles : 2).[0m ×2 + 2.03sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.00 s). The render path has stopped producing new frames for them.[0m ×2 + 2.38sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1793913094.51140046 seconds ×3 + 2.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.873989 ms (missed cycles : 3). + 2.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.873989 ms (missed cycles : 3).[0m ×2 + 2.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.92sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 2.98sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1793913095.11086249 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.98sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 2.98sINFOobjective_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 + 2.99sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 2.99sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1793913095.11286211 seconds ×3 | ||||
▾
/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/picknik_ur_base_config/share/picknik_ur_base_config/objectives7 skip
| − skipped | — | create_point_cloud_vector_from_masks.xml | 0.0s | 3 warnings · 317 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793912775.95617938 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793912776.86634350 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.94sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.52sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793912777.48105383 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793912777.54122686 seconds ×3 + 1.93sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.19sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.25sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793912778.20602131 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793912778.22618771 seconds ×3 + 2.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.81sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793912778.82100129 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.02sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793912778.97153234 seconds ×3 + 3.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.65sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.70sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793912779.66099024 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.72sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.73sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.461359 ms (missed cycles : 3). + 3.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.461359 ms (missed cycles : 3).[0m ×2 + 3.75sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793912779.71114635 seconds ×3 + 4.37sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.38sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.48sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1793912780.43706203 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.49sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.49sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.49sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.50sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.50sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.61sINFOobjective_server_nodeFound path in 0 iterations (2.0724e-05 s). ×2 + 4.61sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.62sINFOros2_control_node[2026-11-05 21:06:20.573] [info] Received new action goal ×2 + 4.62sINFOros2_control_node[2026-11-05 21:06:20.573] [info] Accepted new action goal ×2 | ||||
| − skipped | — | segment_image_from_no_negative_text_prompt_subtree.xml | 0.0s | 3 warnings · 317 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793912775.95617938 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793912776.86634350 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.94sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.52sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793912777.48105383 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793912777.54122686 seconds ×3 + 1.93sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.19sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.25sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793912778.20602131 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793912778.22618771 seconds ×3 + 2.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.81sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793912778.82100129 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.02sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793912778.97153234 seconds ×3 + 3.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.65sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.70sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793912779.66099024 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.72sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.73sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.461359 ms (missed cycles : 3). + 3.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.461359 ms (missed cycles : 3).[0m ×2 + 3.75sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793912779.71114635 seconds ×3 + 4.37sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.38sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.48sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1793912780.43706203 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.49sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.49sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.49sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.50sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.50sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.61sINFOobjective_server_nodeFound path in 0 iterations (2.0724e-05 s). ×2 + 4.61sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.62sINFOros2_control_node[2026-11-05 21:06:20.573] [info] Received new action goal ×2 + 4.62sINFOros2_control_node[2026-11-05 21:06:20.573] [info] Accepted new action goal ×2 | ||||
| − skipped | — | segment_image_from_point_subtree.xml | 0.0s | 3 warnings · 317 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793912775.95617938 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793912776.86634350 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.94sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.52sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793912777.48105383 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793912777.54122686 seconds ×3 + 1.93sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.19sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.25sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793912778.20602131 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793912778.22618771 seconds ×3 + 2.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.81sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793912778.82100129 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.02sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793912778.97153234 seconds ×3 + 3.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.65sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.70sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793912779.66099024 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.72sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.73sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.461359 ms (missed cycles : 3). + 3.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.461359 ms (missed cycles : 3).[0m ×2 + 3.75sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793912779.71114635 seconds ×3 + 4.37sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.38sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.48sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1793912780.43706203 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.49sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.49sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.49sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.50sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.50sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.61sINFOobjective_server_nodeFound path in 0 iterations (2.0724e-05 s). ×2 + 4.61sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.62sINFOros2_control_node[2026-11-05 21:06:20.573] [info] Received new action goal ×2 + 4.62sINFOros2_control_node[2026-11-05 21:06:20.573] [info] Accepted new action goal ×2 | ||||
| − skipped | — | segment_image_from_text_prompt_subtree.xml | 0.0s | 3 warnings · 317 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793912775.95617938 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793912776.86634350 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.94sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.52sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793912777.48105383 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793912777.54122686 seconds ×3 + 1.93sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.19sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.25sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793912778.20602131 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793912778.22618771 seconds ×3 + 2.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.81sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793912778.82100129 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.02sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793912778.97153234 seconds ×3 + 3.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.65sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.70sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793912779.66099024 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.72sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.73sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.461359 ms (missed cycles : 3). + 3.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.461359 ms (missed cycles : 3).[0m ×2 + 3.75sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793912779.71114635 seconds ×3 + 4.37sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.38sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.48sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1793912780.43706203 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.49sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.49sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.49sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.50sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.50sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.61sINFOobjective_server_nodeFound path in 0 iterations (2.0724e-05 s). ×2 + 4.61sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.62sINFOros2_control_node[2026-11-05 21:06:20.573] [info] Received new action goal ×2 + 4.62sINFOros2_control_node[2026-11-05 21:06:20.573] [info] Accepted new action goal ×2 | ||||
| − skipped | — | segment_point_cloud_from_clicked_point_subtree.xml | 0.0s | 3 warnings · 317 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793912775.95617938 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793912776.86634350 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.94sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.52sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793912777.48105383 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793912777.54122686 seconds ×3 + 1.93sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.19sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.25sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793912778.20602131 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793912778.22618771 seconds ×3 + 2.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.81sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793912778.82100129 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.02sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793912778.97153234 seconds ×3 + 3.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.65sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.70sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793912779.66099024 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.72sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.73sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.461359 ms (missed cycles : 3). + 3.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.461359 ms (missed cycles : 3).[0m ×2 + 3.75sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793912779.71114635 seconds ×3 + 4.37sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.38sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.48sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1793912780.43706203 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.49sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.49sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.49sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.50sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.50sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.61sINFOobjective_server_nodeFound path in 0 iterations (2.0724e-05 s). ×2 + 4.61sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.62sINFOros2_control_node[2026-11-05 21:06:20.573] [info] Received new action goal ×2 + 4.62sINFOros2_control_node[2026-11-05 21:06:20.573] [info] Accepted new action goal ×2 | ||||
| − skipped | — | segment_point_cloud_from_text_prompt_subtree.xml | 0.0s | 3 warnings · 317 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793912775.95617938 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793912776.86634350 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.94sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.52sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793912777.48105383 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793912777.54122686 seconds ×3 + 1.93sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.19sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.25sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793912778.20602131 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793912778.22618771 seconds ×3 + 2.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.81sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793912778.82100129 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.02sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793912778.97153234 seconds ×3 + 3.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.65sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.70sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793912779.66099024 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.72sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.73sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.461359 ms (missed cycles : 3). + 3.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.461359 ms (missed cycles : 3).[0m ×2 + 3.75sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793912779.71114635 seconds ×3 + 4.37sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.38sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.48sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1793912780.43706203 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.49sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.49sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.49sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.50sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.50sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.61sINFOobjective_server_nodeFound path in 0 iterations (2.0724e-05 s). ×2 + 4.61sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.62sINFOros2_control_node[2026-11-05 21:06:20.573] [info] Received new action goal ×2 + 4.62sINFOros2_control_node[2026-11-05 21:06:20.573] [info] Accepted new action goal ×2 | ||||
| − skipped | — | visualize_segmented_point_cloud.xml | 0.0s | 3 warnings · 317 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793912775.95617938 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793912776.86634350 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.94sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.52sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793912777.48105383 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793912777.54122686 seconds ×3 + 1.93sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.19sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.25sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793912778.20602131 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793912778.22618771 seconds ×3 + 2.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.81sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793912778.82100129 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.02sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793912778.97153234 seconds ×3 + 3.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.65sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.70sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793912779.66099024 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.72sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.73sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.461359 ms (missed cycles : 3). + 3.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.461359 ms (missed cycles : 3).[0m ×2 + 3.75sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793912779.71114635 seconds ×3 + 4.37sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.38sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.48sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1793912780.43706203 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.49sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.49sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.49sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.50sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.50sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.61sINFOobjective_server_nodeFound path in 0 iterations (2.0724e-05 s). ×2 + 4.61sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.62sINFOros2_control_node[2026-11-05 21:06:20.573] [info] Received new action goal ×2 + 4.62sINFOros2_control_node[2026-11-05 21:06:20.573] [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 | 12.2s | 23 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/2026-11-05-21-06-03-220094-c30456fd41af-8292 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 0.71sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 0.73sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 0.73sINFOcontroller_managerupdate rate is 600 Hz + 0.73sINFOcontroller_managerOverruns handling is : enabled + 0.73sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 0.73sWARNcontroller_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. + 0.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.191533 ms (missed cycles : 2). + 0.93sINFOros2_control_node-1process started with pid [8340] ×2 + 0.93sINFOmove_group-9process started with pid [8389] ×2 + 0.93sINFOparameter_manager_node-10process started with pid [8390] ×2 + 0.93sINFOwaypoint_manager_node-11process started with pid [8391] ×2 + 0.93sINFOmove_joint_resampler_node-12process started with pid [8392] ×2 + 0.93sINFOmove_end_effector_resampler_node-13process started with pid [8393] ×2 + 0.93sINFOobjective_server_node_main-14process started with pid [8394] ×2 + 0.94sINFOcomponent_container_mt-15process started with pid [8395] ×2 + 0.94sINFOcomponent_container_mt-16process started with pid [8396] ×2 + 0.94sINFOexecute_objective_bridge-17process started with pid [8397] ×2 + 0.94sINFOui_teleop_bridge-18process started with pid [8398] ×2 + 0.94sINFOweb_bridge-19process started with pid [8399] ×2 + 0.94sINFOtf_visualization_relay-20process started with pid [8469] ×2 + 0.94sINFOjoint_state_visualization_relay-21process started with pid [8471] ×2 + 0.94sINFOtf2_web_republisher_node-22process started with pid [8472] ×2 + 0.94sINFOvideo_server-23process started with pid [8473] ×2 + 0.94sINFOweb_bridge_auth_proxy-24process started with pid [8474] ×2 + 0.94sINFOweb_video_auth_proxy-25process started with pid [8475] ×2 + 0.94sINFOcontroller_managerReceived robot description from topic. + 0.94sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 0.94sINFOros2-2process started with pid [8341] ×2 + 0.94sINFOros2-3process started with pid [8342] ×2 + 0.94sINFOros2-4process started with pid [8343] ×2 + 0.94sINFOros2-5process started with pid [8344] ×2 + 0.94sINFOros2-6process started with pid [8345] ×2 + 0.94sINFOros2-7process started with pid [8346] ×2 + 0.94sINFOros2-8process started with pid [8347] ×2 + 0.96sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 0.97sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 0.98sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 0.98sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 0.99sINFOros2_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 2.191533 ms (missed cycles : 2).[0m ×2 + 0.99sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 0.99sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 0.99sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 1.05sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 1.10sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 1.18sINFOvideo_server2026/11/05 21:06:04 INF MediaMTX v1.20.1, linux, amd64 ×2 + 1.19sINFOvideo_server2026/11/05 21:06:04 INF configuration loaded from /tmp/moveit-webrtc-82lridqn/mediamtx.yml ×2 + 1.19sINFOvideo_server2026/11/05 21:06:04 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 + 1.19sINFOvideo_server2026/11/05 21:06:04 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 + 1.48sINFOspawner_robotiq_gripper_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.48sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 1.84sINFOmove_group[2026-11-05 21:06:05.413] [moveit_pro_license] [info] ×2 + 1.84sINFOmove_group************************************************* ×4 + 1.84sINFOmove_group* MoveIt Pro License ×2 + 1.84sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 2.19sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 2.23sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 2.23sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 2.23sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 2.23sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 2.25sINFOros2_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 + 2.25sINFOros2_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 + 2.27sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 2.27sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 2.27sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 2.27sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 2.27sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 2.28sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 2.28sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 2.33sINFOweb_video_auth_proxy2026-11-05 21:06:05,896 INFO moveit_studio_utils_py.tls: Generated MoveIt Pro self-signed TLS certificate at /github/home/.local/share/moveit_pro/tls/cert.pem ×2 + 2.33sINFOweb_video_auth_proxy2026-11-05 21:06:05,899 INFO auth_proxy: TLS auth proxy on 0.0.0.0:3202 -> 127.0.0.1:13202 ×2 + 2.33sINFOweb_bridge_auth_proxy2026-11-05 21:06:05,902 INFO auth_proxy: TLS auth proxy on 0.0.0.0:3201 -> 127.0.0.1:13201 ×2 + 2.35sINFOwaypoint_manager_node[2026-11-05 21:06:05.922] [moveit_pro_license] [info] ×2 + 2.35sINFOwaypoint_manager_node************************************************* ×4 + 2.35sINFOwaypoint_manager_node* MoveIt Pro License ×2 + 2.35sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 2.36sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 2.45sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 2.46sINFOmove_group ×4 + 2.46sINFOmove_group[92mYou can start planning now![0m ×2 + 3.21sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 3.34sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 3.42sINFOobjective_server_node[2026-11-05 21:06:06.991] [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 + 3.53sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 3.54sINFOobjective_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 + 3.54sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 3.56sINFOobjective_server_nodeLoading 7 behavior loader plugin(s): ×2 + 3.56sINFOobjective_server_nodelab_sim_behaviors::LabSimBehaviorsLoader ×2 + 3.56sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 3.56sINFOobjective_server_nodemoveit_pro::behaviors::MPCBehaviorsLoader ×2 + 3.56sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 3.56sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 3.56sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 3.56sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 3.71sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/surface_coverage_accumulator' in container '/moveit_studio_point_cloud_container' ×2 + 3.82sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 3.82sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 3.97sINFOcomponent_container_mt[2026-11-05 21:06:07.544] [moveit_pro_license] [info] ×2 + 3.97sINFOcomponent_container_mt************************************************* ×4 + 3.97sINFOcomponent_container_mt* MoveIt Pro License ×2 + 3.97sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 4.02sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 4.17sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 4.29sWARNros2_control_nodeNo keyframe specified, applying first keyframe to set initial state.[0m ×2 + 4.29sINFOros2_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 + 4.29sWARNros2_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 + 4.29sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 4.29sINFOros2_control_nodebase: 0.0002 m, 3.1416 rad ×2 + 4.29sINFOros2_control_nodeshoulder_link: 0.0006 m, 3.1416 rad ×2 + 4.29sINFOros2_control_nodeupper_arm_link: 0.1380 m, 2.0944 rad ×2 + 4.29sINFOros2_control_nodeforearm_link: 0.0070 m, 2.0944 rad ×2 + 4.29sINFOros2_control_nodewrist_1_link: 0.1264 m, 1.5708 rad ×2 + 4.29sINFOros2_control_nodewrist_2_link: 0.1004 m, 0.0000 rad ×2 + 4.29sINFOros2_control_nodewrist_3_link: 0.1003 m, 1.5708 rad ×2 + 4.29sINFOros2_control_noderobotiq_85_base_link: 0.0073 m, 1.5708 rad ×2 + 4.29sINFOros2_control_noderobotiq_85_left_inner_knuckle_link: 0.0078 m, 1.5708 rad ×2 + 4.29sINFOros2_control_noderobotiq_85_left_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 4.29sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 4.29sINFOros2_control_noderobotiq_85_right_inner_knuckle_link: 0.0079 m, 1.5708 rad ×2 + 4.29sINFOros2_control_noderobotiq_85_right_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 4.29sINFOros2_control_noderobotiq_85_left_finger_link: 0.0076 m, 1.5708 rad ×2 + 4.29sINFOros2_control_noderobotiq_85_left_finger_tip_link: 0.1092 m, 2.0014 rad ×2 + 4.29sINFOros2_control_noderobotiq_85_right_finger_link: 0.0076 m, 1.5708 rad ×2 + 4.29sINFOros2_control_noderobotiq_85_right_finger_tip_link: 0.1096 m, 2.0014 rad[0m ×2 + 4.29sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 4.29sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 4.29sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 4.29sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 4.29sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 4.29sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 4.29sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 4.29sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 4.29sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 4.29sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.270829 ms (missed cycles : 2). + 4.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.270829 ms (missed cycles : 2).[0m ×2 + 4.48sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 4.48sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 4.48sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 4.48sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 4.48sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_7gdu53ou --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_o7ms9lrf --params-file /tmp/launch_params_6xuiy9w8 + 4.48sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_7gdu53ou --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_o7ms9lrf --params-file /tmp/launch_params_6xuiy9w8 [0m ×2 + 4.49sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 4.50sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 4.50sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 4.50sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 4.50sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 4.50sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 4.50sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 4.50sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 4.50sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 4.50sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 4.51sINFOcontroller_managerSuccessfully switched controllers! ×16 + 4.51sINFOros2_control_nodeSuccessfully switched controllers![0m ×32 + 4.51sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 4.51sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 4.78sINFOros2_control_nodeTrying EGL candidate default display for offscreen camera rendering.[0m ×2 + 4.78sINFOros2_control_nodeTrying EGL candidate platform device 0 (software) for offscreen camera rendering.[0m ×2 + 4.78sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 4.78sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 4.78sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 4.78sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 4.81sINFOros2-3process has finished cleanly [pid 8342] ×2 + 4.89sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_7gdu53ou --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_o7ms9lrf --params-file /tmp/launch_params_6xuiy9w8 + 4.89sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_7gdu53ou --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_o7ms9lrf --params-file /tmp/launch_params_6xuiy9w8 [0m ×2 + 4.92sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 4.92sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 4.92sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 4.92sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 4.93sINFOros2_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 + 4.93sINFOros2_control_nodeFell back to platform device 0 (software) after skipping: default display: eglInitialize failed: EGL_NOT_INITIALIZED (0x3001).[0m ×2 + 4.93sWARNros2_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 + 4.93sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 4.95sINFOros2_control_node[2026-11-05 21:06:08.522] [info] Controller state will be published at 20 Hz. ×2 + 4.95sINFOros2_control_node[2026-11-05 21:06:08.523] [info] JointVelocityController 'on_configure' succeeded. ×2 + 5.25sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 5.25sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 5.25sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 5.25sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 5.27sINFOros2-8process has finished cleanly [pid 8347] ×2 + 5.33sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_7gdu53ou --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_o7ms9lrf --params-file /tmp/launch_params_6xuiy9w8 + 5.33sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_7gdu53ou --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_o7ms9lrf --params-file /tmp/launch_params_6xuiy9w8 [0m ×2 + 5.37sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 5.37sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 5.38sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 5.38sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 5.38sINFOros2_control_node[2026-11-05 21:06:08.946] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 5.38sINFOros2_control_node[2026-11-05 21:06:08.946] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 5.40sINFOros2_control_node[2026-11-05 21:06:08.970] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 5.40sINFOros2_control_node[2026-11-05 21:06:08.970] [info] Controller state will be published at 50 Hz. ×2 + 5.41sINFOros2_control_node[2026-11-05 21:06:08.977] [info] Registered `FollowJointTrajectory` action server. ×2 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.725720 ms (missed cycles : 5). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.725720 ms (missed cycles : 5).[0m ×2 + 5.71sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 5.71sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 5.71sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 5.71sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 5.72sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_7gdu53ou --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_o7ms9lrf --params-file /tmp/launch_params_6xuiy9w8 + 5.72sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_7gdu53ou --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_o7ms9lrf --params-file /tmp/launch_params_6xuiy9w8 [0m ×2 + 5.73sINFOros2-6process has finished cleanly [pid 8345] ×2 + 5.75sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 5.75sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 5.75sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 5.75sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 5.75sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 5.75sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 5.76sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 5.76sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 5.77sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 5.77sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 6.07sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 6.07sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 6.07sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 6.07sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 6.07sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_7gdu53ou --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_o7ms9lrf --params-file /tmp/launch_params_6xuiy9w8 + 6.07sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_7gdu53ou --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_o7ms9lrf --params-file /tmp/launch_params_6xuiy9w8 [0m ×2 + 6.11sINFOros2-4process has finished cleanly [pid 8343] ×2 + 6.14sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 6.14sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 6.14sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 6.14sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 6.14sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 6.14sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 6.14sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 6.14sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 6.14sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 6.14sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 6.15sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 6.15sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 6.15sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 6.15sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 6.15sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.15sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.15sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 6.15sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 6.43sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 6.43sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 6.43sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 6.43sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 6.43sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_7gdu53ou --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_o7ms9lrf --params-file /tmp/launch_params_6xuiy9w8 + 6.44sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_7gdu53ou --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_o7ms9lrf --params-file /tmp/launch_params_6xuiy9w8 [0m ×2 + 6.47sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 6.47sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 6.47sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 6.48sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 6.48sINFOros2-5process has finished cleanly [pid 8344] ×2 + 6.48sINFOforce_torque_sensor_broadcasterconfigure successful + 6.48sINFOros2_control_nodeconfigure successful[0m ×2 + 6.48sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 6.48sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 6.49sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 6.49sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 6.52sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 6.79sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 6.79sINFOcontroller_managerLoading controller 'velocity_force_controller' + 6.79sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 6.79sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 6.82sINFOros2-2process has finished cleanly [pid 8341] ×2 + 6.86sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_7gdu53ou --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_o7ms9lrf --params-file /tmp/launch_params_6xuiy9w8 + 6.86sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_7gdu53ou --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_o7ms9lrf --params-file /tmp/launch_params_6xuiy9w8 [0m ×2 + 6.90sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 6.90sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 6.90sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 6.90sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 6.93sINFOros2_control_node[2026-11-05 21:06:10.494] [info] Controller state will be published at 10 Hz. ×2 + 6.93sINFOros2_control_node[2026-11-05 21:06:10.495] [info] VelocityForceController 'on_configure' succeeded. ×2 + 7.25sINFOros2-7process has finished cleanly [pid 8346] ×2 + 10.97sWARNobjective_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 + 11.04sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 11.09sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 11.09sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 11.09sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 11.09sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 11.09sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 11.09sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 11.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 11.12sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 11.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 11.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 11.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 11.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 11.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 11.71sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 11.71sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 11.71sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 11.71sINFOobjective_server_nodeparameter_overrides: [] ×10 + 11.71sINFOobjective_server_nodecaller: ×10 + 11.71sINFOobjective_server_nodetype: 0 ×10 + 11.71sINFOobjective_server_nodename: "" ×10 + 11.71sINFOobjective_server_nodeinstance_id: "" ×10 + 11.71sINFOobjective_server_node ×10 + 11.78sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793912775.35496855 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 11.80sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793912775.36517930 seconds ×3 + 12.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 12.33sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 12.39sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793912775.95617938 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 12.39sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 12.39sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 13.30sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793912776.86634350 seconds ×3 + 13.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 13.86sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 13.91sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793912777.48105383 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 13.97sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793912777.54122686 seconds ×3 + 14.31sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 14.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.58sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 14.64sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793912778.20602131 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.66sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793912778.22618771 seconds ×3 + 15.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 15.20sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 15.25sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793912778.82100129 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.40sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793912778.97153234 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 + 0.07sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793912775.35496855 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.08sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793912775.36517930 seconds ×3 + 0.09sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.09sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.09sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.09sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.09sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.09sINFOros2_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 + 0.10sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.10sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.10sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.10sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.62sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.62sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.67sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793912775.95617938 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.68sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.68sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 1.58sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793912776.86634350 seconds ×3 + 2.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.14sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.20sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793912777.48105383 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.26sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793912777.54122686 seconds ×3 + 2.60sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.86sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.87sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.92sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793912778.20602131 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.94sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793912778.22618771 seconds ×3 + 3.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.48sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.54sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793912778.82100129 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.69sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793912778.97153234 seconds ×3 + 4.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.32sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.38sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793912779.66099024 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.39sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.39sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.40sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.41sINFOobjective_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 3.461359 ms (missed cycles : 3). + 4.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.461359 ms (missed cycles : 3).[0m ×2 + 4.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793912779.71114635 seconds ×3 + 5.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.05sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 5.15sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1793912780.43706203 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 + 5.28sINFOobjective_server_nodeFound path in 0 iterations (2.0724e-05 s). ×2 + 5.28sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 5.29sINFOros2_control_node[2026-11-05 21:06:20.573] [info] Received new action goal ×2 + 5.29sINFOros2_control_node[2026-11-05 21:06:20.573] [info] Accepted new action goal ×2 | ||||
| ✓ passed | — | reset_planning_scene.xml | 0.7s | 5 warnings · 413 info |
+ 0.00sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×2 + 0.08sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.12sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.12sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.12sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.12sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.12sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.12sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.12sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.12sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 0.15sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.15sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.15sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.15sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.15sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.75sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.75sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.75sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.75sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.75sINFOobjective_server_nodecaller: ×14 + 0.75sINFOobjective_server_nodetype: 0 ×14 + 0.75sINFOobjective_server_nodename: "" ×14 + 0.75sINFOobjective_server_nodeinstance_id: "" ×14 + 0.75sINFOobjective_server_node ×14 + 0.82sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793912775.35496855 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.83sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793912775.36517930 seconds ×3 + 1.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.37sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.42sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793912775.95617938 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.42sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.42sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.33sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793912776.86634350 seconds ×3 + 2.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.89sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.94sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793912777.48105383 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.00sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793912777.54122686 seconds ×3 + 3.35sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.61sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.67sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793912778.20602131 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.69sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793912778.22618771 seconds ×3 + 4.23sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.23sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.28sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793912778.82100129 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.43sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793912778.97153234 seconds ×3 + 5.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.07sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.12sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793912779.66099024 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.14sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.14sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.15sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.461359 ms (missed cycles : 3). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.461359 ms (missed cycles : 3).[0m ×2 + 5.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793912779.71114635 seconds ×3 + 5.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.79sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 5.90sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1793912780.43706203 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.91sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 5.91sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.91sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.91sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.91sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.91sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.91sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.91sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.92sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.03sINFOobjective_server_nodeFound path in 0 iterations (2.0724e-05 s). ×2 + 6.03sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 6.04sINFOros2_control_node[2026-11-05 21:06:20.573] [info] Received new action goal ×2 + 6.04sINFOros2_control_node[2026-11-05 21:06:20.573] [info] Accepted new action goal ×2 | ||||
| − skipped | — | wait_for_trajectory_approval_if_user_available.xml | 0.1s | 3 warnings · 320 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793912775.95617938 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793912776.86634350 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.94sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.52sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793912777.48105383 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793912777.54122686 seconds ×3 + 1.93sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.19sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.25sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793912778.20602131 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793912778.22618771 seconds ×3 + 2.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.81sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793912778.82100129 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.02sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793912778.97153234 seconds ×3 + 3.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.65sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.70sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793912779.66099024 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.72sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.73sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.461359 ms (missed cycles : 3). + 3.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.461359 ms (missed cycles : 3).[0m ×2 + 3.75sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793912779.71114635 seconds ×3 + 4.37sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.38sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.48sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1793912780.43706203 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.49sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.49sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.49sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.50sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.50sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.61sINFOobjective_server_nodeFound path in 0 iterations (2.0724e-05 s). ×2 + 4.61sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.62sINFOros2_control_node[2026-11-05 21:06:20.573] [info] Received new action goal ×2 + 4.62sINFOros2_control_node[2026-11-05 21:06:20.573] [info] Accepted new action goal ×2 + 7.01sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||
| − skipped | — | addtovector.xml | 0.0s | 6 warnings · 193 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/2026-11-05-21-06-03-220094-c30456fd41af-8292 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 0.71sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 0.73sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 0.73sINFOcontroller_managerupdate rate is 600 Hz + 0.73sINFOcontroller_managerOverruns handling is : enabled + 0.73sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 0.73sWARNcontroller_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. + 0.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.191533 ms (missed cycles : 2). + 0.93sINFOros2_control_node-1process started with pid [8340] ×2 + 0.93sINFOmove_group-9process started with pid [8389] ×2 + 0.93sINFOparameter_manager_node-10process started with pid [8390] ×2 + 0.93sINFOwaypoint_manager_node-11process started with pid [8391] ×2 + 0.93sINFOmove_joint_resampler_node-12process started with pid [8392] ×2 + 0.93sINFOmove_end_effector_resampler_node-13process started with pid [8393] ×2 + 0.93sINFOobjective_server_node_main-14process started with pid [8394] ×2 + 0.94sINFOcomponent_container_mt-15process started with pid [8395] ×2 + 0.94sINFOcomponent_container_mt-16process started with pid [8396] ×2 + 0.94sINFOexecute_objective_bridge-17process started with pid [8397] ×2 + 0.94sINFOui_teleop_bridge-18process started with pid [8398] ×2 + 0.94sINFOweb_bridge-19process started with pid [8399] ×2 + 0.94sINFOtf_visualization_relay-20process started with pid [8469] ×2 + 0.94sINFOjoint_state_visualization_relay-21process started with pid [8471] ×2 + 0.94sINFOtf2_web_republisher_node-22process started with pid [8472] ×2 + 0.94sINFOvideo_server-23process started with pid [8473] ×2 + 0.94sINFOweb_bridge_auth_proxy-24process started with pid [8474] ×2 + 0.94sINFOweb_video_auth_proxy-25process started with pid [8475] ×2 + 0.94sINFOcontroller_managerReceived robot description from topic. + 0.94sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 0.94sINFOros2-2process started with pid [8341] ×2 + 0.94sINFOros2-3process started with pid [8342] ×2 + 0.94sINFOros2-4process started with pid [8343] ×2 + 0.94sINFOros2-5process started with pid [8344] ×2 + 0.94sINFOros2-6process started with pid [8345] ×2 + 0.94sINFOros2-7process started with pid [8346] ×2 + 0.94sINFOros2-8process started with pid [8347] ×2 + 0.96sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 0.97sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 0.98sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 0.98sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 0.99sINFOros2_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 2.191533 ms (missed cycles : 2).[0m ×2 + 0.99sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 0.99sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 0.99sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 1.05sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 1.10sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 1.18sINFOvideo_server2026/11/05 21:06:04 INF MediaMTX v1.20.1, linux, amd64 ×2 + 1.19sINFOvideo_server2026/11/05 21:06:04 INF configuration loaded from /tmp/moveit-webrtc-82lridqn/mediamtx.yml ×2 + 1.19sINFOvideo_server2026/11/05 21:06:04 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 + 1.19sINFOvideo_server2026/11/05 21:06:04 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 + 1.48sINFOspawner_robotiq_gripper_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.48sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 1.84sINFOmove_group[2026-11-05 21:06:05.413] [moveit_pro_license] [info] ×2 + 1.84sINFOmove_group************************************************* ×4 + 1.84sINFOmove_group* MoveIt Pro License ×2 + 1.84sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 2.19sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 2.23sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 2.23sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 2.23sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 2.23sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 2.25sINFOros2_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 + 2.25sINFOros2_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 + 2.27sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 2.27sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 2.27sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 2.27sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 2.27sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 2.28sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 2.28sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 2.33sINFOweb_video_auth_proxy2026-11-05 21:06:05,896 INFO moveit_studio_utils_py.tls: Generated MoveIt Pro self-signed TLS certificate at /github/home/.local/share/moveit_pro/tls/cert.pem ×2 + 2.33sINFOweb_video_auth_proxy2026-11-05 21:06:05,899 INFO auth_proxy: TLS auth proxy on 0.0.0.0:3202 -> 127.0.0.1:13202 ×2 + 2.33sINFOweb_bridge_auth_proxy2026-11-05 21:06:05,902 INFO auth_proxy: TLS auth proxy on 0.0.0.0:3201 -> 127.0.0.1:13201 ×2 + 2.35sINFOwaypoint_manager_node[2026-11-05 21:06:05.922] [moveit_pro_license] [info] ×2 + 2.35sINFOwaypoint_manager_node************************************************* ×4 + 2.35sINFOwaypoint_manager_node* MoveIt Pro License ×2 + 2.35sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 2.36sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 2.45sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 2.46sINFOmove_group ×4 + 2.46sINFOmove_group[92mYou can start planning now![0m ×2 + 3.21sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 3.34sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 3.42sINFOobjective_server_node[2026-11-05 21:06:06.991] [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 + 3.53sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 3.54sINFOobjective_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 + 3.54sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 3.56sINFOobjective_server_nodeLoading 7 behavior loader plugin(s): ×2 + 3.56sINFOobjective_server_nodelab_sim_behaviors::LabSimBehaviorsLoader ×2 + 3.56sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 3.56sINFOobjective_server_nodemoveit_pro::behaviors::MPCBehaviorsLoader ×2 + 3.56sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 3.56sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 3.56sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 3.56sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 | ||||
| − skipped | — | convert_collisionobject_to_graspableobject.xml | 0.0s | 5 warnings · 413 info |
+ 0.00sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×2 + 0.08sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.12sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.12sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.12sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.12sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.12sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.12sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.12sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.12sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 0.15sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.15sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.15sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.15sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.15sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.75sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.75sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.75sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.75sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.75sINFOobjective_server_nodecaller: ×14 + 0.75sINFOobjective_server_nodetype: 0 ×14 + 0.75sINFOobjective_server_nodename: "" ×14 + 0.75sINFOobjective_server_nodeinstance_id: "" ×14 + 0.75sINFOobjective_server_node ×14 + 0.82sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793912775.35496855 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.83sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793912775.36517930 seconds ×3 + 1.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.37sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.42sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793912775.95617938 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.42sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.42sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.33sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793912776.86634350 seconds ×3 + 2.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.89sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.94sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793912777.48105383 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.00sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793912777.54122686 seconds ×3 + 3.35sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.61sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.67sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793912778.20602131 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.69sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793912778.22618771 seconds ×3 + 4.23sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.23sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.28sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793912778.82100129 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.43sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793912778.97153234 seconds ×3 + 5.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.07sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.12sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793912779.66099024 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.14sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.14sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.15sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.461359 ms (missed cycles : 3). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.461359 ms (missed cycles : 3).[0m ×2 + 5.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793912779.71114635 seconds ×3 + 5.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.79sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 5.90sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1793912780.43706203 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.91sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 5.91sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.91sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.91sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.91sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.91sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.91sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.91sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.92sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.03sINFOobjective_server_nodeFound path in 0 iterations (2.0724e-05 s). ×2 + 6.03sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 6.04sINFOros2_control_node[2026-11-05 21:06:20.573] [info] Received new action goal ×2 + 6.04sINFOros2_control_node[2026-11-05 21:06:20.573] [info] Accepted new action goal ×2 | ||||
| − skipped | — | createvector.xml | 0.0s | 5 warnings · 413 info |
+ 0.00sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×2 + 0.08sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.12sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.12sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.12sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.12sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.12sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.12sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.12sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.12sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 0.15sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.15sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.15sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.15sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.15sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.75sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.75sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.75sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.75sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.75sINFOobjective_server_nodecaller: ×14 + 0.75sINFOobjective_server_nodetype: 0 ×14 + 0.75sINFOobjective_server_nodename: "" ×14 + 0.75sINFOobjective_server_nodeinstance_id: "" ×14 + 0.75sINFOobjective_server_node ×14 + 0.82sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793912775.35496855 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.83sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793912775.36517930 seconds ×3 + 1.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.37sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.42sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793912775.95617938 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.42sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.42sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.33sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793912776.86634350 seconds ×3 + 2.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.89sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.94sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793912777.48105383 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.00sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793912777.54122686 seconds ×3 + 3.35sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.61sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.67sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793912778.20602131 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.69sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793912778.22618771 seconds ×3 + 4.23sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.23sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.28sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793912778.82100129 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.43sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793912778.97153234 seconds ×3 + 5.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.07sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.12sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793912779.66099024 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.14sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.14sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.15sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.461359 ms (missed cycles : 3). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.461359 ms (missed cycles : 3).[0m ×2 + 5.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793912779.71114635 seconds ×3 + 5.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.79sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 5.90sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1793912780.43706203 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.91sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 5.91sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.91sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.91sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.91sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.91sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.91sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.91sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.92sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.03sINFOobjective_server_nodeFound path in 0 iterations (2.0724e-05 s). ×2 + 6.03sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 6.04sINFOros2_control_node[2026-11-05 21:06:20.573] [info] Received new action goal ×2 + 6.04sINFOros2_control_node[2026-11-05 21:06:20.573] [info] Accepted new action goal ×2 | ||||
| − skipped | — | find_nearest_pose_in_path.xml | 0.0s | 5 warnings · 413 info |
+ 0.00sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×2 + 0.08sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.12sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.12sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.12sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.12sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.12sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.12sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.12sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.12sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 0.15sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.15sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.15sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.15sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.15sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.75sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.75sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.75sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.75sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.75sINFOobjective_server_nodecaller: ×14 + 0.75sINFOobjective_server_nodetype: 0 ×14 + 0.75sINFOobjective_server_nodename: "" ×14 + 0.75sINFOobjective_server_nodeinstance_id: "" ×14 + 0.75sINFOobjective_server_node ×14 + 0.82sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793912775.35496855 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.83sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793912775.36517930 seconds ×3 + 1.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.37sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.42sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793912775.95617938 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.42sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.42sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.33sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793912776.86634350 seconds ×3 + 2.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.89sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.94sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793912777.48105383 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.00sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793912777.54122686 seconds ×3 + 3.35sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.61sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.67sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793912778.20602131 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.69sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793912778.22618771 seconds ×3 + 4.23sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.23sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.28sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793912778.82100129 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.43sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793912778.97153234 seconds ×3 + 5.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.07sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.12sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793912779.66099024 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.14sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.14sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.15sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.461359 ms (missed cycles : 3). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.461359 ms (missed cycles : 3).[0m ×2 + 5.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793912779.71114635 seconds ×3 + 5.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.79sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 5.90sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1793912780.43706203 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.91sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 5.91sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.91sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.91sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.91sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.91sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.91sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.91sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.92sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.03sINFOobjective_server_nodeFound path in 0 iterations (2.0724e-05 s). ×2 + 6.03sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 6.04sINFOros2_control_node[2026-11-05 21:06:20.573] [info] Received new action goal ×2 + 6.04sINFOros2_control_node[2026-11-05 21:06:20.573] [info] Accepted new action goal ×2 | ||||
| − skipped | — | request_teleoperation.xml | 0.0s | 5 warnings · 413 info |
+ 0.00sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×2 + 0.08sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.12sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.12sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.12sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.12sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.12sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.12sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.12sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.12sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 0.15sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.15sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.15sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.15sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.15sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.75sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.75sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.75sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.75sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.75sINFOobjective_server_nodecaller: ×14 + 0.75sINFOobjective_server_nodetype: 0 ×14 + 0.75sINFOobjective_server_nodename: "" ×14 + 0.75sINFOobjective_server_nodeinstance_id: "" ×14 + 0.75sINFOobjective_server_node ×14 + 0.82sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793912775.35496855 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.83sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793912775.36517930 seconds ×3 + 1.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.37sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.42sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793912775.95617938 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.42sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.42sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.33sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793912776.86634350 seconds ×3 + 2.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.89sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.94sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793912777.48105383 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.00sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793912777.54122686 seconds ×3 + 3.35sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.61sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.67sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793912778.20602131 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.69sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793912778.22618771 seconds ×3 + 4.23sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.23sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.28sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793912778.82100129 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.43sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793912778.97153234 seconds ×3 + 5.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.07sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.12sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793912779.66099024 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.14sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.14sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.15sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.461359 ms (missed cycles : 3). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.461359 ms (missed cycles : 3).[0m ×2 + 5.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793912779.71114635 seconds ×3 + 5.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.79sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 5.90sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1793912780.43706203 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.91sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 5.91sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.91sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.91sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.91sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.91sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.91sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.91sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.92sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.03sINFOobjective_server_nodeFound path in 0 iterations (2.0724e-05 s). ×2 + 6.03sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 6.04sINFOros2_control_node[2026-11-05 21:06:20.573] [info] Received new action goal ×2 + 6.04sINFOros2_control_node[2026-11-05 21:06:20.573] [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 + 0.07sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793912775.35496855 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.08sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793912775.36517930 seconds ×3 + 0.09sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.09sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.09sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.09sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.09sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.09sINFOros2_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 + 0.10sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.10sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.10sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.10sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.62sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.62sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.67sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793912775.95617938 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.68sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.68sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.58sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793912776.86634350 seconds ×3 + 2.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.14sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.20sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793912777.48105383 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.26sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793912777.54122686 seconds ×3 + 2.60sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.86sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.87sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.92sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793912778.20602131 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.94sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793912778.22618771 seconds ×3 + 3.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.48sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.54sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793912778.82100129 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.69sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793912778.97153234 seconds ×3 + 4.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.32sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.38sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793912779.66099024 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.39sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.39sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.40sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.41sINFOobjective_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 3.461359 ms (missed cycles : 3). + 4.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.461359 ms (missed cycles : 3).[0m ×2 + 4.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793912779.71114635 seconds ×3 + 5.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.05sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 5.15sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1793912780.43706203 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 + 5.28sINFOobjective_server_nodeFound path in 0 iterations (2.0724e-05 s). ×2 + 5.28sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 5.29sINFOros2_control_node[2026-11-05 21:06:20.573] [info] Received new action goal ×2 + 5.29sINFOros2_control_node[2026-11-05 21:06:20.573] [info] Accepted new action goal ×2 | ||||
| − skipped | — | wait_for_joint_trajectory_approval.xml | 0.0s | 3 warnings · 317 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793912775.95617938 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793912776.86634350 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.94sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.52sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793912777.48105383 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793912777.54122686 seconds ×3 + 1.93sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.19sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.25sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793912778.20602131 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793912778.22618771 seconds ×3 + 2.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.81sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793912778.82100129 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.02sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793912778.97153234 seconds ×3 + 3.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.65sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.70sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793912779.66099024 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.72sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.73sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.461359 ms (missed cycles : 3). + 3.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.461359 ms (missed cycles : 3).[0m ×2 + 3.75sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793912779.71114635 seconds ×3 + 4.37sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.38sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.48sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1793912780.43706203 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.49sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.49sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.49sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.50sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.50sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.61sINFOobjective_server_nodeFound path in 0 iterations (2.0724e-05 s). ×2 + 4.61sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.62sINFOros2_control_node[2026-11-05 21:06:20.573] [info] Received new action goal ×2 + 4.62sINFOros2_control_node[2026-11-05 21:06:20.573] [info] Accepted new action goal ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/motion15 skip
| − skipped | — | execute_mtc_solution.xml | 0.0s | 3 warnings · 317 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793912775.95617938 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793912776.86634350 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.94sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.52sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793912777.48105383 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793912777.54122686 seconds ×3 + 1.93sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.19sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.25sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793912778.20602131 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793912778.22618771 seconds ×3 + 2.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.81sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793912778.82100129 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.02sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793912778.97153234 seconds ×3 + 3.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.65sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.70sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793912779.66099024 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.72sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.73sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.461359 ms (missed cycles : 3). + 3.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.461359 ms (missed cycles : 3).[0m ×2 + 3.75sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793912779.71114635 seconds ×3 + 4.37sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.38sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.48sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1793912780.43706203 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.49sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.49sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.49sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.50sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.50sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.61sINFOobjective_server_nodeFound path in 0 iterations (2.0724e-05 s). ×2 + 4.61sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.62sINFOros2_control_node[2026-11-05 21:06:20.573] [info] Received new action goal ×2 + 4.62sINFOros2_control_node[2026-11-05 21:06:20.573] [info] Accepted new action goal ×2 | ||||
| − skipped | — | execute_mtc_solution_jtc.xml | 0.0s | 3 warnings · 317 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793912775.95617938 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793912776.86634350 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.94sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.52sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793912777.48105383 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793912777.54122686 seconds ×3 + 1.93sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.19sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.25sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793912778.20602131 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793912778.22618771 seconds ×3 + 2.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.81sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793912778.82100129 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.02sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793912778.97153234 seconds ×3 + 3.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.65sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.70sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793912779.66099024 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.72sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.73sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.461359 ms (missed cycles : 3). + 3.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.461359 ms (missed cycles : 3).[0m ×2 + 3.75sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793912779.71114635 seconds ×3 + 4.37sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.38sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.48sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1793912780.43706203 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.49sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.49sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.49sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.50sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.50sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.61sINFOobjective_server_nodeFound path in 0 iterations (2.0724e-05 s). ×2 + 4.61sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.62sINFOros2_control_node[2026-11-05 21:06:20.573] [info] Received new action goal ×2 + 4.62sINFOros2_control_node[2026-11-05 21:06:20.573] [info] Accepted new action goal ×2 | ||||
| − skipped | — | interpolate_to_joint_state.xml | 0.0s | 3 warnings · 317 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793912775.95617938 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793912776.86634350 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.94sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.52sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793912777.48105383 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793912777.54122686 seconds ×3 + 1.93sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.19sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.25sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793912778.20602131 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793912778.22618771 seconds ×3 + 2.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.81sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793912778.82100129 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.02sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793912778.97153234 seconds ×3 + 3.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.65sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.70sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793912779.66099024 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.72sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.73sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.461359 ms (missed cycles : 3). + 3.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.461359 ms (missed cycles : 3).[0m ×2 + 3.75sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793912779.71114635 seconds ×3 + 4.37sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.38sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.48sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1793912780.43706203 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.49sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.49sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.49sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.50sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.50sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.61sINFOobjective_server_nodeFound path in 0 iterations (2.0724e-05 s). ×2 + 4.61sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.62sINFOros2_control_node[2026-11-05 21:06:20.573] [info] Received new action goal ×2 + 4.62sINFOros2_control_node[2026-11-05 21:06:20.573] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_cartesian_pose.xml | 0.0s | 3 warnings · 317 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793912775.95617938 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793912776.86634350 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.94sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.52sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793912777.48105383 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793912777.54122686 seconds ×3 + 1.93sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.19sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.25sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793912778.20602131 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793912778.22618771 seconds ×3 + 2.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.81sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793912778.82100129 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.02sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793912778.97153234 seconds ×3 + 3.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.65sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.70sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793912779.66099024 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.72sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.73sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.461359 ms (missed cycles : 3). + 3.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.461359 ms (missed cycles : 3).[0m ×2 + 3.75sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793912779.71114635 seconds ×3 + 4.37sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.38sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.48sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1793912780.43706203 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.49sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.49sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.49sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.50sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.50sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.61sINFOobjective_server_nodeFound path in 0 iterations (2.0724e-05 s). ×2 + 4.61sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.62sINFOros2_control_node[2026-11-05 21:06:20.573] [info] Received new action goal ×2 + 4.62sINFOros2_control_node[2026-11-05 21:06:20.573] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_cartesian_pose_jtc.xml | 0.0s | 3 warnings · 317 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793912775.95617938 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793912776.86634350 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.94sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.52sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793912777.48105383 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793912777.54122686 seconds ×3 + 1.93sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.19sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.25sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793912778.20602131 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793912778.22618771 seconds ×3 + 2.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.81sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793912778.82100129 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.02sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793912778.97153234 seconds ×3 + 3.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.65sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.70sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793912779.66099024 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.72sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.73sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.461359 ms (missed cycles : 3). + 3.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.461359 ms (missed cycles : 3).[0m ×2 + 3.75sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793912779.71114635 seconds ×3 + 4.37sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.38sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.48sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1793912780.43706203 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.49sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.49sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.49sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.50sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.50sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.61sINFOobjective_server_nodeFound path in 0 iterations (2.0724e-05 s). ×2 + 4.61sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.62sINFOros2_control_node[2026-11-05 21:06:20.573] [info] Received new action goal ×2 + 4.62sINFOros2_control_node[2026-11-05 21:06:20.573] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_joint_state.xml | 0.0s | 3 warnings · 317 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793912775.95617938 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793912776.86634350 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.94sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.52sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793912777.48105383 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793912777.54122686 seconds ×3 + 1.93sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.19sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.25sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793912778.20602131 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793912778.22618771 seconds ×3 + 2.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.81sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793912778.82100129 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.02sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793912778.97153234 seconds ×3 + 3.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.65sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.70sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793912779.66099024 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.72sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.73sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.461359 ms (missed cycles : 3). + 3.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.461359 ms (missed cycles : 3).[0m ×2 + 3.75sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793912779.71114635 seconds ×3 + 4.37sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.38sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.48sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1793912780.43706203 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.49sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.49sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.49sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.50sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.50sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.61sINFOobjective_server_nodeFound path in 0 iterations (2.0724e-05 s). ×2 + 4.61sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.62sINFOros2_control_node[2026-11-05 21:06:20.573] [info] Received new action goal ×2 + 4.62sINFOros2_control_node[2026-11-05 21:06:20.573] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_named_waypoint.xml | 0.0s | 3 warnings · 317 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793912775.95617938 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793912776.86634350 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.94sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.52sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793912777.48105383 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793912777.54122686 seconds ×3 + 1.93sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.19sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.25sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793912778.20602131 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793912778.22618771 seconds ×3 + 2.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.81sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793912778.82100129 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.02sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793912778.97153234 seconds ×3 + 3.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.65sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.70sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793912779.66099024 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.72sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.73sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.461359 ms (missed cycles : 3). + 3.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.461359 ms (missed cycles : 3).[0m ×2 + 3.75sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793912779.71114635 seconds ×3 + 4.37sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.38sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.48sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1793912780.43706203 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.49sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.49sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.49sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.50sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.50sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.61sINFOobjective_server_nodeFound path in 0 iterations (2.0724e-05 s). ×2 + 4.61sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.62sINFOros2_control_node[2026-11-05 21:06:20.573] [info] Received new action goal ×2 + 4.62sINFOros2_control_node[2026-11-05 21:06:20.573] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_named_waypoint_jtc.xml | 0.0s | 3 warnings · 317 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793912775.95617938 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793912776.86634350 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.94sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.52sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793912777.48105383 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793912777.54122686 seconds ×3 + 1.93sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.19sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.25sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793912778.20602131 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793912778.22618771 seconds ×3 + 2.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.81sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793912778.82100129 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.02sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793912778.97153234 seconds ×3 + 3.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.65sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.70sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793912779.66099024 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.72sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.73sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.461359 ms (missed cycles : 3). + 3.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.461359 ms (missed cycles : 3).[0m ×2 + 3.75sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793912779.71114635 seconds ×3 + 4.37sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.38sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.48sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1793912780.43706203 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.49sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.49sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.49sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.50sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.50sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.61sINFOobjective_server_nodeFound path in 0 iterations (2.0724e-05 s). ×2 + 4.61sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.62sINFOros2_control_node[2026-11-05 21:06:20.573] [info] Received new action goal ×2 + 4.62sINFOros2_control_node[2026-11-05 21:06:20.573] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_pose.xml | 0.0s | 3 warnings · 317 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793912775.95617938 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793912776.86634350 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.94sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.52sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793912777.48105383 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793912777.54122686 seconds ×3 + 1.93sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.19sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.25sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793912778.20602131 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793912778.22618771 seconds ×3 + 2.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.81sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793912778.82100129 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.02sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793912778.97153234 seconds ×3 + 3.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.65sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.70sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793912779.66099024 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.72sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.73sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.461359 ms (missed cycles : 3). + 3.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.461359 ms (missed cycles : 3).[0m ×2 + 3.75sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793912779.71114635 seconds ×3 + 4.37sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.38sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.48sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1793912780.43706203 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.49sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.49sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.49sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.50sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.50sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.61sINFOobjective_server_nodeFound path in 0 iterations (2.0724e-05 s). ×2 + 4.61sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.62sINFOros2_control_node[2026-11-05 21:06:20.573] [info] Received new action goal ×2 + 4.62sINFOros2_control_node[2026-11-05 21:06:20.573] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_pose_jtc.xml | 0.0s | 3 warnings · 317 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793912775.95617938 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793912776.86634350 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.94sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.52sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793912777.48105383 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793912777.54122686 seconds ×3 + 1.93sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.19sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.25sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793912778.20602131 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793912778.22618771 seconds ×3 + 2.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.81sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793912778.82100129 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.02sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793912778.97153234 seconds ×3 + 3.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.65sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.70sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793912779.66099024 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.72sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.73sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.461359 ms (missed cycles : 3). + 3.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.461359 ms (missed cycles : 3).[0m ×2 + 3.75sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793912779.71114635 seconds ×3 + 4.37sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.38sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.48sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1793912780.43706203 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.49sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.49sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.49sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.50sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.50sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.61sINFOobjective_server_nodeFound path in 0 iterations (2.0724e-05 s). ×2 + 4.61sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.62sINFOros2_control_node[2026-11-05 21:06:20.573] [info] Received new action goal ×2 + 4.62sINFOros2_control_node[2026-11-05 21:06:20.573] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_waypoint.xml | 0.0s | 3 warnings · 317 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793912775.95617938 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793912776.86634350 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.94sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.52sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793912777.48105383 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793912777.54122686 seconds ×3 + 1.93sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.19sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.25sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793912778.20602131 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793912778.22618771 seconds ×3 + 2.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.81sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793912778.82100129 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.02sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793912778.97153234 seconds ×3 + 3.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.65sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.70sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793912779.66099024 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.72sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.73sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.461359 ms (missed cycles : 3). + 3.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.461359 ms (missed cycles : 3).[0m ×2 + 3.75sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793912779.71114635 seconds ×3 + 4.37sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.38sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.48sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1793912780.43706203 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.49sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.49sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.49sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.50sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.50sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.61sINFOobjective_server_nodeFound path in 0 iterations (2.0724e-05 s). ×2 + 4.61sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.62sINFOros2_control_node[2026-11-05 21:06:20.573] [info] Received new action goal ×2 + 4.62sINFOros2_control_node[2026-11-05 21:06:20.573] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_waypoint_jtc.xml | 0.0s | 3 warnings · 317 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793912775.95617938 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793912776.86634350 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.94sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.52sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793912777.48105383 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793912777.54122686 seconds ×3 + 1.93sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.19sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.25sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793912778.20602131 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793912778.22618771 seconds ×3 + 2.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.81sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793912778.82100129 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.02sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793912778.97153234 seconds ×3 + 3.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.65sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.70sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793912779.66099024 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.72sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.73sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.461359 ms (missed cycles : 3). + 3.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.461359 ms (missed cycles : 3).[0m ×2 + 3.75sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793912779.71114635 seconds ×3 + 4.37sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.38sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.48sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1793912780.43706203 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.49sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.49sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.49sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.50sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.50sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.61sINFOobjective_server_nodeFound path in 0 iterations (2.0724e-05 s). ×2 + 4.61sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.62sINFOros2_control_node[2026-11-05 21:06:20.573] [info] Received new action goal ×2 + 4.62sINFOros2_control_node[2026-11-05 21:06:20.573] [info] Accepted new action goal ×2 | ||||
| − skipped | — | plan_path_with_mtc.xml | 0.0s | 3 warnings · 317 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793912775.95617938 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793912776.86634350 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.94sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.52sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793912777.48105383 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793912777.54122686 seconds ×3 + 1.93sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.19sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.25sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793912778.20602131 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793912778.22618771 seconds ×3 + 2.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.81sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793912778.82100129 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.02sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793912778.97153234 seconds ×3 + 3.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.65sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.70sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793912779.66099024 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.72sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.73sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.461359 ms (missed cycles : 3). + 3.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.461359 ms (missed cycles : 3).[0m ×2 + 3.75sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793912779.71114635 seconds ×3 + 4.37sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.38sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.48sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1793912780.43706203 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.49sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.49sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.49sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.50sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.50sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.61sINFOobjective_server_nodeFound path in 0 iterations (2.0724e-05 s). ×2 + 4.61sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.62sINFOros2_control_node[2026-11-05 21:06:20.573] [info] Received new action goal ×2 + 4.62sINFOros2_control_node[2026-11-05 21:06:20.573] [info] Accepted new action goal ×2 | ||||
| − skipped | — | record_teleop_trajectory.xml | 0.0s | 3 warnings · 317 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793912775.95617938 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793912776.86634350 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.94sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.52sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793912777.48105383 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793912777.54122686 seconds ×3 + 1.93sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.19sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.25sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793912778.20602131 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793912778.22618771 seconds ×3 + 2.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.81sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793912778.82100129 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.02sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793912778.97153234 seconds ×3 + 3.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.65sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.70sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793912779.66099024 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.72sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.73sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.461359 ms (missed cycles : 3). + 3.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.461359 ms (missed cycles : 3).[0m ×2 + 3.75sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793912779.71114635 seconds ×3 + 4.37sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.38sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.48sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1793912780.43706203 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.49sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.49sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.49sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.50sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.50sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.61sINFOobjective_server_nodeFound path in 0 iterations (2.0724e-05 s). ×2 + 4.61sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.62sINFOros2_control_node[2026-11-05 21:06:20.573] [info] Received new action goal ×2 + 4.62sINFOros2_control_node[2026-11-05 21:06:20.573] [info] Accepted new action goal ×2 | ||||
| − skipped | — | track_moving_frame.xml | 0.0s | 3 warnings · 317 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793912775.95617938 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793912776.86634350 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.94sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.52sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793912777.48105383 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793912777.54122686 seconds ×3 + 1.93sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.19sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.25sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793912778.20602131 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793912778.22618771 seconds ×3 + 2.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.81sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793912778.82100129 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.02sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793912778.97153234 seconds ×3 + 3.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.65sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.70sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793912779.66099024 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.72sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.73sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.461359 ms (missed cycles : 3). + 3.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.461359 ms (missed cycles : 3).[0m ×2 + 3.75sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793912779.71114635 seconds ×3 + 4.37sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.38sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.48sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1793912780.43706203 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.49sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.49sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.49sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.50sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.50sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.61sINFOobjective_server_nodeFound path in 0 iterations (2.0724e-05 s). ×2 + 4.61sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.62sINFOros2_control_node[2026-11-05 21:06:20.573] [info] Received new action goal ×2 + 4.62sINFOros2_control_node[2026-11-05 21:06:20.573] [info] Accepted new action goal ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/mujoco1 pass
| ✓ passed | — | reset_mujoco_sim.xml | 0.7s | 3 warnings · 328 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793912775.95617938 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793912776.86634350 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.94sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.52sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793912777.48105383 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793912777.54122686 seconds ×3 + 1.93sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.19sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.25sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793912778.20602131 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793912778.22618771 seconds ×3 + 2.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.81sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793912778.82100129 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.02sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793912778.97153234 seconds ×3 + 3.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.65sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.70sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793912779.66099024 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.72sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.73sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.461359 ms (missed cycles : 3). + 3.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.461359 ms (missed cycles : 3).[0m ×2 + 3.75sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793912779.71114635 seconds ×3 + 4.37sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.38sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.48sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1793912780.43706203 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.49sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.49sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.49sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.50sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.50sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.61sINFOobjective_server_nodeFound path in 0 iterations (2.0724e-05 s). ×2 + 4.61sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.62sINFOros2_control_node[2026-11-05 21:06:20.573] [info] Received new action goal ×2 + 4.62sINFOros2_control_node[2026-11-05 21:06:20.573] [info] Accepted new action goal ×2 + 7.01sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 7.12sINFOobjective_server_nodeFound path in 0 iterations (3.11e-07 s). ×2 + 7.13sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 7.14sINFOros2_control_node[2026-11-05 21:06:23.093] [info] Received new action goal ×2 + 7.14sINFOros2_control_node[2026-11-05 21:06:23.093] [info] Accepted new action goal ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/perception8 skip
| − skipped | — | calibrate_camera_intrinsics.xml | 0.0s | 3 warnings · 317 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793912775.95617938 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793912776.86634350 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.94sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.52sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793912777.48105383 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793912777.54122686 seconds ×3 + 1.93sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.19sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.25sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793912778.20602131 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793912778.22618771 seconds ×3 + 2.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.81sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793912778.82100129 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.02sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793912778.97153234 seconds ×3 + 3.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.65sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.70sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793912779.66099024 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.72sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.73sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.461359 ms (missed cycles : 3). + 3.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.461359 ms (missed cycles : 3).[0m ×2 + 3.75sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793912779.71114635 seconds ×3 + 4.37sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.38sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.48sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1793912780.43706203 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.49sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.49sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.49sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.50sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.50sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.61sINFOobjective_server_nodeFound path in 0 iterations (2.0724e-05 s). ×2 + 4.61sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.62sINFOros2_control_node[2026-11-05 21:06:20.573] [info] Received new action goal ×2 + 4.62sINFOros2_control_node[2026-11-05 21:06:20.573] [info] Accepted new action goal ×2 | ||||
| − skipped | — | calibrate_eye_in_hand_camera.xml | 0.0s | 3 warnings · 317 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793912775.95617938 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793912776.86634350 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.94sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.52sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793912777.48105383 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793912777.54122686 seconds ×3 + 1.93sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.19sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.25sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793912778.20602131 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793912778.22618771 seconds ×3 + 2.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.81sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793912778.82100129 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.02sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793912778.97153234 seconds ×3 + 3.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.65sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.70sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793912779.66099024 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.72sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.73sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.461359 ms (missed cycles : 3). + 3.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.461359 ms (missed cycles : 3).[0m ×2 + 3.75sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793912779.71114635 seconds ×3 + 4.37sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.38sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.48sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1793912780.43706203 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.49sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.49sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.49sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.50sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.50sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.61sINFOobjective_server_nodeFound path in 0 iterations (2.0724e-05 s). ×2 + 4.61sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.62sINFOros2_control_node[2026-11-05 21:06:20.573] [info] Received new action goal ×2 + 4.62sINFOros2_control_node[2026-11-05 21:06:20.573] [info] Accepted new action goal ×2 | ||||
| − skipped | — | calibrate_eye_to_hand_camera.xml | 0.0s | 3 warnings · 317 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793912775.95617938 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793912776.86634350 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.94sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.52sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793912777.48105383 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793912777.54122686 seconds ×3 + 1.93sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.19sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.25sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793912778.20602131 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793912778.22618771 seconds ×3 + 2.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.81sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793912778.82100129 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.02sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793912778.97153234 seconds ×3 + 3.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.65sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.70sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793912779.66099024 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.72sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.73sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.461359 ms (missed cycles : 3). + 3.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.461359 ms (missed cycles : 3).[0m ×2 + 3.75sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793912779.71114635 seconds ×3 + 4.37sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.38sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.48sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1793912780.43706203 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.49sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.49sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.49sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.50sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.50sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.61sINFOobjective_server_nodeFound path in 0 iterations (2.0724e-05 s). ×2 + 4.61sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.62sINFOros2_control_node[2026-11-05 21:06:20.573] [info] Received new action goal ×2 + 4.62sINFOros2_control_node[2026-11-05 21:06:20.573] [info] Accepted new action goal ×2 | ||||
| − skipped | — | capture_calibration_sample.xml | 0.0s | 3 warnings · 317 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793912775.95617938 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793912776.86634350 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.94sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.52sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793912777.48105383 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793912777.54122686 seconds ×3 + 1.93sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.19sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.25sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793912778.20602131 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793912778.22618771 seconds ×3 + 2.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.81sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793912778.82100129 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.02sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793912778.97153234 seconds ×3 + 3.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.65sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.70sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793912779.66099024 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.72sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.73sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.461359 ms (missed cycles : 3). + 3.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.461359 ms (missed cycles : 3).[0m ×2 + 3.75sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793912779.71114635 seconds ×3 + 4.37sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.38sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.48sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1793912780.43706203 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.49sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.49sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.49sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.50sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.50sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.61sINFOobjective_server_nodeFound path in 0 iterations (2.0724e-05 s). ×2 + 4.61sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.62sINFOros2_control_node[2026-11-05 21:06:20.573] [info] Received new action goal ×2 + 4.62sINFOros2_control_node[2026-11-05 21:06:20.573] [info] Accepted new action goal ×2 | ||||
| − skipped | — | capture_camera_point_cloud.xml | 0.0s | 3 warnings · 317 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793912775.95617938 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793912776.86634350 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.94sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.52sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793912777.48105383 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793912777.54122686 seconds ×3 + 1.93sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.19sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.25sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793912778.20602131 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793912778.22618771 seconds ×3 + 2.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.81sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793912778.82100129 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.02sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793912778.97153234 seconds ×3 + 3.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.65sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.70sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793912779.66099024 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.72sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.73sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.461359 ms (missed cycles : 3). + 3.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.461359 ms (missed cycles : 3).[0m ×2 + 3.75sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793912779.71114635 seconds ×3 + 4.37sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.38sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.48sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1793912780.43706203 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.49sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.49sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.49sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.50sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.50sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.61sINFOobjective_server_nodeFound path in 0 iterations (2.0724e-05 s). ×2 + 4.61sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.62sINFOros2_control_node[2026-11-05 21:06:20.573] [info] Received new action goal ×2 + 4.62sINFOros2_control_node[2026-11-05 21:06:20.573] [info] Accepted new action goal ×2 | ||||
| − skipped | — | collect_calibration_samples.xml | 0.0s | 3 warnings · 317 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793912775.95617938 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793912776.86634350 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.94sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.52sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793912777.48105383 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793912777.54122686 seconds ×3 + 1.93sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.19sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.25sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793912778.20602131 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793912778.22618771 seconds ×3 + 2.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.81sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793912778.82100129 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.02sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793912778.97153234 seconds ×3 + 3.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.65sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.70sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793912779.66099024 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.72sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.73sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.461359 ms (missed cycles : 3). + 3.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.461359 ms (missed cycles : 3).[0m ×2 + 3.75sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793912779.71114635 seconds ×3 + 4.37sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.38sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.48sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1793912780.43706203 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.49sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.49sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.49sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.50sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.50sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.61sINFOobjective_server_nodeFound path in 0 iterations (2.0724e-05 s). ×2 + 4.61sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.62sINFOros2_control_node[2026-11-05 21:06:20.573] [info] Received new action goal ×2 + 4.62sINFOros2_control_node[2026-11-05 21:06:20.573] [info] Accepted new action goal ×2 | ||||
| − skipped | — | generate_calibration_waypoints.xml | 0.0s | 3 warnings · 317 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793912775.95617938 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793912776.86634350 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.94sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.52sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793912777.48105383 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793912777.54122686 seconds ×3 + 1.93sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.19sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.25sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793912778.20602131 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793912778.22618771 seconds ×3 + 2.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.81sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793912778.82100129 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.02sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793912778.97153234 seconds ×3 + 3.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.65sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.70sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793912779.66099024 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.72sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.73sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.461359 ms (missed cycles : 3). + 3.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.461359 ms (missed cycles : 3).[0m ×2 + 3.75sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793912779.71114635 seconds ×3 + 4.37sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.38sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.48sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1793912780.43706203 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.49sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.49sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.49sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.50sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.50sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.61sINFOobjective_server_nodeFound path in 0 iterations (2.0724e-05 s). ×2 + 4.61sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.62sINFOros2_control_node[2026-11-05 21:06:20.573] [info] Received new action goal ×2 + 4.62sINFOros2_control_node[2026-11-05 21:06:20.573] [info] Accepted new action goal ×2 | ||||
| − skipped | — | get_imarker_pose_from_mesh_visualization.xml | 0.0s | 3 warnings · 317 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793912775.95617938 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793912776.86634350 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.94sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.52sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793912777.48105383 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793912777.54122686 seconds ×3 + 1.93sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.19sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.25sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793912778.20602131 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793912778.22618771 seconds ×3 + 2.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.81sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793912778.82100129 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.02sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793912778.97153234 seconds ×3 + 3.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.65sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.70sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793912779.66099024 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.72sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.73sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.461359 ms (missed cycles : 3). + 3.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.461359 ms (missed cycles : 3).[0m ×2 + 3.75sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793912779.71114635 seconds ×3 + 4.37sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.38sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.48sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1793912780.43706203 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.49sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.49sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.49sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.50sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.50sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.61sINFOobjective_server_nodeFound path in 0 iterations (2.0724e-05 s). ×2 + 4.61sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.62sINFOros2_control_node[2026-11-05 21:06:20.573] [info] Received new action goal ×2 + 4.62sINFOros2_control_node[2026-11-05 21:06:20.573] [info] Accepted new action goal ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/visualization3 skip
| − skipped | — | interactive_marker_visualization.xml | 0.0s | 3 warnings · 317 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793912775.95617938 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793912776.86634350 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.94sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.52sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793912777.48105383 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793912777.54122686 seconds ×3 + 1.93sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.19sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.25sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793912778.20602131 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793912778.22618771 seconds ×3 + 2.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.81sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793912778.82100129 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.02sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793912778.97153234 seconds ×3 + 3.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.65sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.70sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793912779.66099024 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.72sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.73sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.461359 ms (missed cycles : 3). + 3.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.461359 ms (missed cycles : 3).[0m ×2 + 3.75sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793912779.71114635 seconds ×3 + 4.37sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.38sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.48sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1793912780.43706203 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.49sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.49sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.49sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.50sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.50sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.61sINFOobjective_server_nodeFound path in 0 iterations (2.0724e-05 s). ×2 + 4.61sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.62sINFOros2_control_node[2026-11-05 21:06:20.573] [info] Received new action goal ×2 + 4.62sINFOros2_control_node[2026-11-05 21:06:20.573] [info] Accepted new action goal ×2 | ||||
| − skipped | — | interactive_marker_visualization_example.xml | 0.0s | 3 warnings · 317 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793912775.95617938 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793912776.86634350 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.94sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.52sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793912777.48105383 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793912777.54122686 seconds ×3 + 1.93sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.19sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.25sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793912778.20602131 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793912778.22618771 seconds ×3 + 2.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.81sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793912778.82100129 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.02sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793912778.97153234 seconds ×3 + 3.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.65sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.70sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793912779.66099024 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.72sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.73sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.461359 ms (missed cycles : 3). + 3.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.461359 ms (missed cycles : 3).[0m ×2 + 3.75sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793912779.71114635 seconds ×3 + 4.37sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.38sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.48sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1793912780.43706203 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.49sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.49sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.49sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.50sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.50sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.61sINFOobjective_server_nodeFound path in 0 iterations (2.0724e-05 s). ×2 + 4.61sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.62sINFOros2_control_node[2026-11-05 21:06:20.573] [info] Received new action goal ×2 + 4.62sINFOros2_control_node[2026-11-05 21:06:20.573] [info] Accepted new action goal ×2 | ||||
| − skipped | — | visualize_tf.xml | 0.0s | 3 warnings · 317 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793912775.95617938 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793912776.86634350 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.94sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.52sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793912777.48105383 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793912777.54122686 seconds ×3 + 1.93sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.19sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.25sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793912778.20602131 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793912778.22618771 seconds ×3 + 2.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.81sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793912778.82100129 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.02sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793912778.97153234 seconds ×3 + 3.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.65sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.70sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793912779.66099024 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.72sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.73sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.461359 ms (missed cycles : 3). + 3.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.461359 ms (missed cycles : 3).[0m ×2 + 3.75sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793912779.71114635 seconds ×3 + 4.37sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.38sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.48sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1793912780.43706203 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.49sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.49sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.49sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.50sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.50sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.61sINFOobjective_server_nodeFound path in 0 iterations (2.0724e-05 s). ×2 + 4.61sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.62sINFOros2_control_node[2026-11-05 21:06:20.573] [info] Received new action goal ×2 + 4.62sINFOros2_control_node[2026-11-05 21:06:20.573] [info] Accepted new action goal ×2 | ||||