136
Total objective tests
35
Objectives passed
0
Objectives failed
101
Objectives skipped
9.6s
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 | 42.6s | 309 info |
+ 0.00sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1794425846.65107751 seconds ×3 + 1.01sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.01sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.01sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.01sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.02sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.02sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.02sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.54sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 1.54sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 1.54sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 1.54sINFOobjective_server_nodeparameter_overrides: [] ×4 + 1.54sINFOobjective_server_nodecaller: ×4 + 1.54sINFOobjective_server_nodetype: 0 ×4 + 1.54sINFOobjective_server_nodename: "" ×4 + 1.54sINFOobjective_server_nodeinstance_id: "" ×4 + 1.54sINFOobjective_server_node ×4 + 1.61sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1794425848.25739765 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.61sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×6 + 1.61sINFOros2_control_nodeReceived & accepted new action goal[0m ×12 + 1.69sINFOobjective_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 + 1.70sINFOobjective_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 + 1.95sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×2 + 1.96sINFOobjective_server_nodePath shortcutter: [X_____________X] ×6 + 1.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×21 + 1.99sINFOros2_control_node[2026-11-11 19:37:28.643] [info] Received new action goal ×2 + 1.99sINFOros2_control_node[2026-11-11 19:37:28.643] [info] Accepted new action goal ×2 + 4.81sINFOobjective_server_nodeFound path in 0 iterations (2.3e-07 s). ×2 + 4.82sINFOros2_control_node[2026-11-11 19:37:31.471] [info] Received new action goal ×2 + 4.82sINFOros2_control_node[2026-11-11 19:37:31.471] [info] Accepted new action goal ×2 + 7.97sINFOobjective_server_nodePlanning for 2 path waypoints. ×12 + 7.98sINFOros2_control_node[2026-11-11 19:37:34.632] [info] Received new action goal ×2 + 7.98sINFOros2_control_node[2026-11-11 19:37:34.632] [info] Accepted new action goal ×2 + 10.94sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 10.94sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 10.97sINFOros2_control_node[2026-11-11 19:37:37.623] [info] Received new action goal ×2 + 10.97sINFOros2_control_node[2026-11-11 19:37:37.623] [info] Accepted new action goal ×2 + 13.93sINFOobjective_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 + 13.93sINFOcontroller_managerActivating controllers: [ velocity_force_controller ] ×2 + 13.93sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 13.93sINFOros2_control_nodeActivating controllers: [ velocity_force_controller ][0m ×4 + 13.93sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 13.93sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 13.93sINFOcontroller_managerActivated controllers: [ velocity_force_controller ] ×2 + 13.93sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 13.93sINFOros2_control_nodeActivated controllers: [ velocity_force_controller ][0m ×4 + 17.09sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 21.45sINFOobjective_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 + 21.45sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 21.45sINFOcontroller_managerDeactivating controllers: [ velocity_force_controller ] ×2 + 21.45sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 21.45sINFOros2_control_nodeDeactivating controllers: [ velocity_force_controller ][0m ×4 + 21.45sINFOcontroller_managerDeactivated controllers: [ velocity_force_controller ] ×2 + 21.45sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 21.45sINFOros2_control_nodeDeactivated controllers: [ velocity_force_controller ][0m ×4 + 21.45sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 22.31sINFOros2_control_node[2026-11-11 19:37:48.964] [info] Received new action goal ×2 + 22.31sINFOros2_control_node[2026-11-11 19:37:48.964] [info] Accepted new action goal ×2 + 23.50sINFOobjective_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 + 23.51sINFOobjective_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 + 23.77sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 23.81sINFOros2_control_node[2026-11-11 19:37:50.457] [info] Received new action goal ×2 + 23.81sINFOros2_control_node[2026-11-11 19:37:50.457] [info] Accepted new action goal ×2 + 26.05sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 26.05sINFOobjective_server_nodePath shortcutter: [X___________X] ×2 + 26.06sINFOros2_control_node[2026-11-11 19:37:52.715] [info] Received new action goal ×2 + 26.06sINFOros2_control_node[2026-11-11 19:37:52.715] [info] Accepted new action goal ×2 + 29.08sINFOros2_control_node[2026-11-11 19:37:55.734] [info] Received new action goal ×2 + 29.08sINFOros2_control_node[2026-11-11 19:37:55.734] [info] Accepted new action goal ×2 + 31.66sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 31.67sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 31.71sINFOros2_control_node[2026-11-11 19:37:58.357] [info] Received new action goal ×2 + 31.71sINFOros2_control_node[2026-11-11 19:37:58.357] [info] Accepted new action goal ×2 + 42.41sINFOros2_control_node[2026-11-11 19:38:09.056] [info] Received new action goal ×2 + 42.41sINFOros2_control_node[2026-11-11 19:38:09.056] [info] Accepted new action goal ×2 + 43.56sINFOobjective_server_nodeObjective `Move Flasks to Burners` succeeded at time: 1794425890.21306467 seconds ×3 + 44.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Push Button"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 44.13sINFOobjective_server_nodeobjective_name: "Push Button" ×2 + 44.32sINFOobjective_server_nodeObjective `Push Button` starting at time: 1794425890.97593617 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 45.33sINFOobjective_server_nodeFound path in 0 iterations (6.2e-07 s). ×2 + 45.34sINFOobjective_server_nodePath shortcutter: [X___________________________X] ×2 + 45.35sINFOros2_control_node[2026-11-11 19:38:12.000] [info] Received new action goal ×2 + 45.35sINFOros2_control_node[2026-11-11 19:38:12.000] [info] Accepted new action goal ×2 | ||||
| ✓ passed | Record Surface Coverage Demo | record_surface_coverage_demo.xml | 32.6s | 15 warnings · 310 info |
+ 0.00sINFOros2_control_node[2026-11-11 19:40:05.560] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-11-11 19:40:05.560] [info] Accepted new action goal ×2 + 2.07sINFOros2_control_node[2026-11-11 19:40:07.631] [info] Received new action goal ×2 + 2.07sINFOros2_control_node[2026-11-11 19:40:07.631] [info] Accepted new action goal ×2 + 2.85sINFOobjective_server_nodeSaveJointTrajectoryToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/square_traj.yaml' under namespace '' ×3 + 2.85sINFOobjective_server_nodeObjective `Record Square Trajectory` succeeded at time: 1794426008.40795803 seconds ×3 + 2.85sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×5 + 2.85sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×10 + 2.85sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 2.85sINFOcontroller_managerSuccessfully switched controllers! ×10 + 2.85sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 2.85sINFOros2_control_nodeSuccessfully switched controllers![0m ×20 + 2.86sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×10 + 2.86sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.86sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×5 + 2.86sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×10 + 2.86sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×5 + 2.86sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×10 + 3.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Record Surface Coverage Demo"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.38sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 3.38sINFOobjective_server_nodeobjective_name: "Record Surface Coverage Demo" ×2 + 3.38sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 3.38sINFOobjective_server_nodeparameter_overrides: [] ×8 + 3.38sINFOobjective_server_nodecaller: ×8 + 3.38sINFOobjective_server_nodetype: 0 ×8 + 3.38sINFOobjective_server_nodename: "" ×8 + 3.38sINFOobjective_server_nodeinstance_id: "" ×8 + 3.38sINFOobjective_server_node ×8 + 3.48sINFOobjective_server_nodeObjective `Record Surface Coverage Demo` starting at time: 1794426009.04176188 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.48sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.48sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.40sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×15 + 4.48sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 4.48sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.48sINFOros2_control_node[2026-11-11 19:40:10.045] [info] Received new action goal ×2 + 4.48sINFOros2_control_node[2026-11-11 19:40:10.045] [info] Accepted new action goal ×2 + 6.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.551946 ms (missed cycles : 3). + 6.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.551946 ms (missed cycles : 3).[0m ×2 + 7.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.105538 ms (missed cycles : 5). + 7.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.105538 ms (missed cycles : 5).[0m ×2 + 8.35sINFOobjective_server_nodeGenerateSurfaceCoveragePath Info: Generated 48 coverage poses over the region's +Z face. ×3 + 8.37sINFOobjective_server_nodePlanning for 49 path waypoints. ×3 + 8.40sINFOros2_control_node[2026-11-11 19:40:13.961] [info] Received new action goal ×2 + 8.40sINFOros2_control_node[2026-11-11 19:40:13.961] [info] Accepted new action goal ×2 + 18.12sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). ×2 + 18.12sINFOobjective_server_nodePath shortcutter: [X__________X] ×2 + 18.13sINFOros2_control_node[2026-11-11 19:40:23.685] [info] Received new action goal ×2 + 18.13sINFOros2_control_node[2026-11-11 19:40:23.685] [info] Accepted new action goal ×2 + 20.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.020693 ms (missed cycles : 3). + 20.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.020693 ms (missed cycles : 3).[0m ×2 + 21.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.034698 ms (missed cycles : 6). + 21.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.034698 ms (missed cycles : 6).[0m ×2 + 22.27sINFOobjective_server_nodeGenerateSurfaceCoveragePath Info: Generated 54 coverage poses over the region's +Z face. ×3 + 22.29sINFOobjective_server_nodePlanning for 55 path waypoints. ×3 + 22.32sINFOros2_control_node[2026-11-11 19:40:27.880] [info] Received new action goal ×2 + 22.32sINFOros2_control_node[2026-11-11 19:40:27.880] [info] Accepted new action goal ×2 + 31.66sINFOobjective_server_nodeFound path in 0 iterations (4.09e-07 s). ×2 + 31.66sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 31.68sINFOros2_control_node[2026-11-11 19:40:37.236] [info] Received new action goal ×2 + 31.68sINFOros2_control_node[2026-11-11 19:40:37.236] [info] Accepted new action goal ×2 + 35.46sINFOobjective_server_nodeObjective `Record Surface Coverage Demo` succeeded at time: 1794426041.02230239 seconds ×3 + 36.09sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 36.09sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 36.29sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1794426041.85117364 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 36.32sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 36.32sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 36.34sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 36.34sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 36.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.845924 ms (missed cycles : 2). + 36.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.845924 ms (missed cycles : 2).[0m ×2 + 36.36sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1794426041.92140436 seconds ×3 + 36.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 36.90sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 36.94sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1794426042.50277996 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 36.96sINFOobjective_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 + 36.96sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1794426042.52414560 seconds ×3 + 37.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 37.55sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 37.62sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1794426043.17847824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 37.70sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). ×2 + 37.70sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 37.71sINFOros2_control_node[2026-11-11 19:40:43.272] [info] Received new action goal ×2 + 37.71sINFOros2_control_node[2026-11-11 19:40:43.272] [info] Accepted new action goal ×2 + 38.19sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×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 | 32.4s | 42 warnings · 30250 info |
+ 0.00sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1794425901.71771455 seconds ×3 + 0.01sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 0.01sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 0.01sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×7 + 0.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×14 + 0.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 0.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.02sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 0.02sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 0.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 0.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 0.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.54sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.54sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample" ×2 + 0.54sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.54sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.54sINFOobjective_server_nodecaller: ×4 + 0.54sINFOobjective_server_nodetype: 0 ×4 + 0.54sINFOobjective_server_nodename: "" ×4 + 0.54sINFOobjective_server_nodeinstance_id: "" ×4 + 0.54sINFOobjective_server_node ×4 + 0.59sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1794425902.31195545 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.67sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×15 + 0.74sINFOobjective_server_nodeFound path in 0 iterations (2.2e-07 s). ×2 + 0.74sINFOobjective_server_nodePath shortcutter: [X____X] ×4 + 0.75sINFOros2_control_node[2026-11-11 19:38:22.465] [info] Received new action goal ×2 + 0.75sINFOros2_control_node[2026-11-11 19:38:22.465] [info] Accepted new action goal ×2 + 2.01sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.16727752384940525;y=0.47323919871065;z=0.7971805284211555, orientation: x=0.5894248519484582;y=0.7987881401812754;z=0.09721280806199328;w=-0.07117247333048911 ×6 + 2.02sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 2.08sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×6 + 2.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] ×2 + 2.08sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 2.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×4 + 2.08sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 2.08sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 2.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] ×2 + 2.08sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 2.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×4 + 2.56sINFOjoint_trajectory_controllerReceived new action goal ×5000 + 2.56sINFOjoint_trajectory_controllerAccepted new action goal ×5000 + 2.56sINFOros2_control_nodeReceived new action goal[0m ×10000 + 2.56sINFOros2_control_nodeAccepted new action goal[0m ×10000 + 6.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.882808 ms (missed cycles : 2). + 6.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.882808 ms (missed cycles : 2).[0m ×2 + 8.08sINFOjoint_trajectory_controllerGot request to cancel goal ×10 + 8.08sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. ×5 + 8.08sINFOros2_control_nodeGot request to cancel goal[0m ×20 + 8.08sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×10 + 8.10sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×10 + 9.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.464693 ms (missed cycles : 2). + 9.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.464693 ms (missed cycles : 2).[0m ×2 + 13.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.908677 ms (missed cycles : 2). + 13.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.908677 ms (missed cycles : 2).[0m ×2 + 15.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.700447 ms (missed cycles : 3). + 15.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.700447 ms (missed cycles : 3).[0m ×2 + 16.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.603561 ms (missed cycles : 2). + 16.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.603561 ms (missed cycles : 2).[0m ×2 + 18.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.092585 ms (missed cycles : 2). + 18.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.092585 ms (missed cycles : 2).[0m ×2 + 22.03sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 23.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.339677 ms (missed cycles : 3). + 23.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.339677 ms (missed cycles : 3).[0m ×2 + 24.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.031757 ms (missed cycles : 2). + 24.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.031757 ms (missed cycles : 2).[0m ×2 + 25.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.684916 ms (missed cycles : 2). + 25.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.684916 ms (missed cycles : 2).[0m ×2 + 27.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.708065 ms (missed cycles : 2). + 27.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.708065 ms (missed cycles : 2).[0m ×2 + 28.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.942313 ms (missed cycles : 2). + 28.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.942313 ms (missed cycles : 2).[0m ×2 + 29.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.356747 ms (missed cycles : 2). + 29.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.356747 ms (missed cycles : 2).[0m ×2 + 30.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.802679 ms (missed cycles : 3). + 30.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.802679 ms (missed cycles : 3).[0m ×2 + 32.44sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1794425934.16237926 seconds ×3 + 32.45sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 32.45sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 32.46sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 32.46sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 32.46sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 32.46sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 32.98sINFOobjective_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: ""
+ 32.98sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample" ×2 + 33.06sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1794425934.78134894 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 33.13sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 33.13sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 33.13sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 33.13sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 33.13sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 33.13sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 33.13sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 33.13sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 33.13sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 33.20sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×2 + 33.21sINFOros2_control_node[2026-11-11 19:38:54.925] [info] Received new action goal ×2 + 33.21sINFOros2_control_node[2026-11-11 19:38:54.925] [info] Accepted new action goal ×2 + 35.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.433816 ms (missed cycles : 2). + 35.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.433816 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 | 36 warnings · 20622 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×3401 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×3401 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×6802 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×6802 + 1.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.802679 ms (missed cycles : 3). + 1.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.802679 ms (missed cycles : 3).[0m ×2 + 2.78sINFOjoint_trajectory_controllerGot request to cancel goal ×4 + 2.78sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. ×2 + 2.78sINFOros2_control_nodeGot request to cancel goal[0m ×8 + 2.78sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×4 + 2.79sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1794425934.16237926 seconds ×3 + 2.79sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×2 + 2.79sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×4 + 2.79sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.79sINFOcontroller_managerSuccessfully switched controllers! ×7 + 2.79sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.79sINFOros2_control_nodeSuccessfully switched controllers![0m ×14 + 2.80sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.80sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.80sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×2 + 2.80sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×4 + 2.81sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×2 + 2.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×4 + 3.33sINFOobjective_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: ""
+ 3.33sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.33sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample" ×2 + 3.33sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.33sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.33sINFOobjective_server_nodecaller: ×4 + 3.33sINFOobjective_server_nodetype: 0 ×4 + 3.33sINFOobjective_server_nodename: "" ×4 + 3.33sINFOobjective_server_nodeinstance_id: "" ×4 + 3.33sINFOobjective_server_node ×4 + 3.40sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1794425934.78134894 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.47sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×6 + 3.47sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 3.47sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] ×2 + 3.47sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 3.47sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×4 + 3.47sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] ×2 + 3.47sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 3.47sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×4 + 3.47sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 3.54sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×2 + 3.54sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 3.55sINFOros2_control_node[2026-11-11 19:38:54.925] [info] Received new action goal ×2 + 3.55sINFOros2_control_node[2026-11-11 19:38:54.925] [info] Accepted new action goal ×2 + 4.80sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×2 + 4.86sINFOobjective_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 + 4.89sINFOobjective_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 + 4.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.89sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] + 4.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.89sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.89sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] + 4.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 4.89sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.89sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.433816 ms (missed cycles : 2). + 5.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.433816 ms (missed cycles : 2).[0m ×2 + 8.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.087492 ms (missed cycles : 2). + 8.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.087492 ms (missed cycles : 2).[0m ×2 + 10.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.618111 ms (missed cycles : 2). + 10.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.618111 ms (missed cycles : 2).[0m ×2 + 12.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.949693 ms (missed cycles : 2). + 12.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.949693 ms (missed cycles : 2).[0m ×2 + 13.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.087493 ms (missed cycles : 2). + 13.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.087493 ms (missed cycles : 2).[0m ×2 + 14.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.470247 ms (missed cycles : 2). + 14.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.470247 ms (missed cycles : 2).[0m ×2 + 16.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.022067 ms (missed cycles : 2). + 16.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.022067 ms (missed cycles : 2).[0m ×2 + 18.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.932809 ms (missed cycles : 2). + 18.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.932809 ms (missed cycles : 2).[0m ×2 + 19.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.212080 ms (missed cycles : 2). + 19.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.212080 ms (missed cycles : 2).[0m ×2 + 21.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.727079 ms (missed cycles : 2). + 21.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.727079 ms (missed cycles : 2).[0m ×2 + 22.89sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1794425954.26729155 seconds ×3 + 23.52sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object With Approval"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 23.52sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 23.62sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1794425955.00107145 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 23.63sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 23.63sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 23.79sINFOobjective_server_nodeFound path in 0 iterations (3.09e-07 s). ×2 + 23.79sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 23.80sINFOros2_control_node[2026-11-11 19:39:15.174] [info] Received new action goal ×2 + 23.80sINFOros2_control_node[2026-11-11 19:39:15.174] [info] Accepted new action goal ×2 + 25.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.864723 ms (missed cycles : 3). + 25.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.864723 ms (missed cycles : 3).[0m ×2 + 26.72sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 26.72sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 26.72sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 26.99sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). ×2 + 26.99sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 27.00sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×2 + 27.00sINFOobjective_server_nodePath shortcutter: [X_______________X] ×2 + 27.01sINFOobjective_server_nodeFound path in 0 iterations (2.3e-07 s). ×2 + 27.06sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 27.08sINFOobjective_server_nodeFound path in 1 iterations (0.00211527 s). ×2 | ||||
| ✓ passed | Live Surface Coverage Demo | live_surface_coverage_demo.xml | 19.8s | 3 errors · 8 warnings · 171 info |
+ 0.00sINFOros2_control_node[2026-11-11 19:36:49.097] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-11-11 19:36:49.097] [info] Accepted new action goal ×2 + 1.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.26sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.28sINFOros2_control_node[2026-11-11 19:36:51.373] [info] Received new action goal ×2 + 2.28sINFOros2_control_node[2026-11-11 19:36:51.373] [info] Accepted new action goal ×2 + 2.47sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.47sINFOros2_control_node[2026-11-11 19:36:51.569] [info] Got request to cancel active goal. ×2 + 2.47sINFOros2_control_node[2026-11-11 19:36:51.569] [info] Canceling active goal... ×2 + 2.49sERRORobjective_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: 1794425811.58383369 seconds ×3 + 2.54sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.54sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.54sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.54sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.54sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.54sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.54sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.54sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.54sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.54sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.55sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.55sINFOros2_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 + 3.17sINFOobjective_server_nodeObjective `Live Surface Coverage Demo` starting at time: 1794425812.27286601 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.10sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 4.17sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 4.17sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.18sINFOros2_control_node[2026-11-11 19:36:53.276] [info] Received new action goal ×2 + 4.18sINFOros2_control_node[2026-11-11 19:36:53.276] [info] Accepted new action goal ×2 + 6.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.841291 ms (missed cycles : 3). + 6.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.841291 ms (missed cycles : 3).[0m ×2 + 7.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.496583 ms (missed cycles : 5). + 7.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.496583 ms (missed cycles : 5).[0m ×2 + 8.45sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: wrist_camera (1.07 s). The render path has stopped producing new frames for them.[0m ×2 + 8.88sINFOobjective_server_nodeGenerateSurfaceCoveragePath Info: Generated 48 coverage poses over the region's +Z face. ×3 + 8.90sINFOobjective_server_nodePlanning for 49 path waypoints. ×3 + 8.93sINFOros2_control_node[2026-11-11 19:36:58.028] [info] Received new action goal ×2 + 8.93sINFOros2_control_node[2026-11-11 19:36:58.028] [info] Accepted new action goal ×2 + 18.31sINFOobjective_server_nodeLogMessage Info: Live coverage recorded. ×3 + 18.40sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 18.40sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 18.42sINFOros2_control_node[2026-11-11 19:37:07.514] [info] Received new action goal ×2 + 18.42sINFOros2_control_node[2026-11-11 19:37:07.514] [info] Accepted new action goal ×2 + 22.33sINFOobjective_server_nodeObjective `Live Surface Coverage Demo` succeeded at time: 1794425831.42967606 seconds ×3 + 22.87sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load and Execute Joint Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 22.87sINFOobjective_server_nodeobjective_name: "Load and Execute Joint Trajectory" ×2 + 22.98sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1794425832.08100510 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 23.13sINFOobjective_server_nodeFound path in 0 iterations (2.2e-07 s). ×2 + 23.13sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 23.14sINFOros2_control_node[2026-11-11 19:37:12.234] [info] Received new action goal ×2 + 23.14sINFOros2_control_node[2026-11-11 19:37:12.234] [info] Accepted new action goal ×2 + 25.46sINFOros2_control_node[2026-11-11 19:37:14.559] [info] Received new action goal ×2 + 25.46sINFOros2_control_node[2026-11-11 19:37:14.559] [info] Accepted new action goal ×2 | ||||
| ✓ passed | Take Wrist Camera Snapshot | wrist_snap.xml | 12.4s | 69 errors · 22 warnings · 437 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[2026-11-11 19:40:53.468] [info] Got request to cancel active goal. ×2 + 0.00sINFOros2_control_node[2026-11-11 19:40:53.468] [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: 1794426053.47299886 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 + 0.59sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1794426054.05368376 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.105547 ms (missed cycles : 2). + 0.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.105547 ms (missed cycles : 2).[0m ×2 + 1.34sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1794426054.80387449 seconds ×3 + 1.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.331928 ms (missed cycles : 3). + 1.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.331928 ms (missed cycles : 3).[0m ×2 + 1.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.88sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 1.93sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1794426055.39059782 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.93sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 1.93sINFOobjective_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 + 1.93sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 1.93sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1794426055.39269638 seconds ×3 + 2.46sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.46sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 2.51sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1794426055.97002625 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.54sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1794426056.00082445 seconds ×3 + 3.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.07sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 3.12sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1794426056.58547878 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.805690 ms (missed cycles : 4). + 3.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.805690 ms (missed cycles : 4).[0m ×2 + 4.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.004294 ms (missed cycles : 2). + 4.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.004294 ms (missed cycles : 2).[0m ×2 + 5.06sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: wrist_camera (1.04 s). The render path has stopped producing new frames for them.[0m ×2 + 5.28sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1794426058.74564576 seconds ×3 + 5.32sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.314182 ms (missed cycles : 2). + 6.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.314182 ms (missed cycles : 2).[0m ×2 + 11.10sERRORweb_video_auth_proxy-25process[web_video_auth_proxy-25] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.10sERRORweb_bridge_auth_proxy-24process[web_bridge_auth_proxy-24] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.10sERRORvideo_server-23process[video_server-23] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.10sERRORtf2_web_republisher_node-22process[tf2_web_republisher_node-22] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.10sERRORjoint_state_visualization_relay-21process[joint_state_visualization_relay-21] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.10sERRORtf_visualization_relay-20process[tf_visualization_relay-20] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.10sERRORweb_bridge-19process[web_bridge-19] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.10sERRORui_teleop_bridge-18process[ui_teleop_bridge-18] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.10sERRORexecute_objective_bridge-17process[execute_objective_bridge-17] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.10sERRORcomponent_container_mt-16process[component_container_mt-16] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.11sERRORcomponent_container_mt-15process[component_container_mt-15] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.11sERRORobjective_server_node_main-14process[objective_server_node_main-14] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.11sERRORmove_end_effector_resampler_node-13process[move_end_effector_resampler_node-13] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.11sERRORmove_joint_resampler_node-12process[move_joint_resampler_node-12] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.11sERRORwaypoint_manager_node-11process[waypoint_manager_node-11] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.11sERRORparameter_manager_node-10process[parameter_manager_node-10] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.11sERRORplanning_scene_server-9process[planning_scene_server-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.11sERRORros2_control_node-1process[ros2_control_node-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.11sINFOweb_video_auth_proxy-25sending signal 'SIGTERM' to process[web_video_auth_proxy-25] ×2 + 11.11sINFOweb_bridge_auth_proxy-24sending signal 'SIGTERM' to process[web_bridge_auth_proxy-24] ×2 + 11.12sERRORweb_video_auth_proxy-25process has died [pid 8477, 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 + 11.12sINFOvideo_server-23sending signal 'SIGTERM' to process[video_server-23] ×2 + 11.12sERRORweb_bridge_auth_proxy-24process has died [pid 8476, 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 + 11.12sINFOtf2_web_republisher_node-22sending signal 'SIGTERM' to process[tf2_web_republisher_node-22] ×2 + 11.12sINFOjoint_state_visualization_relay-21sending signal 'SIGTERM' to process[joint_state_visualization_relay-21] ×2 + 11.13sINFOtf_visualization_relay-20sending signal 'SIGTERM' to process[tf_visualization_relay-20] ×2 + 11.13sINFOweb_bridge-19sending signal 'SIGTERM' to process[web_bridge-19] ×2 + 11.13sINFOui_teleop_bridge-18sending signal 'SIGTERM' to process[ui_teleop_bridge-18] ×2 + 11.14sINFOexecute_objective_bridge-17sending signal 'SIGTERM' to process[execute_objective_bridge-17] ×2 + 11.14sINFOvideo_server-23process has finished cleanly [pid 8475] ×2 + 11.14sINFOcomponent_container_mt-16sending signal 'SIGTERM' to process[component_container_mt-16] ×2 + 11.15sINFOcomponent_container_mt-15sending signal 'SIGTERM' to process[component_container_mt-15] ×2 + 11.15sINFOobjective_server_node_main-14sending signal 'SIGTERM' to process[objective_server_node_main-14] ×2 + 11.16sINFOmove_end_effector_resampler_node-13sending signal 'SIGTERM' to process[move_end_effector_resampler_node-13] ×2 + 11.16sINFOmove_joint_resampler_node-12sending signal 'SIGTERM' to process[move_joint_resampler_node-12] ×2 + 11.17sINFOwaypoint_manager_node-11sending signal 'SIGTERM' to process[waypoint_manager_node-11] ×2 + 11.17sINFOparameter_manager_node-10sending signal 'SIGTERM' to process[parameter_manager_node-10] ×2 + 11.17sINFOplanning_scene_server-9sending signal 'SIGTERM' to process[planning_scene_server-9] ×2 + 11.18sINFOros2_control_node-1sending signal 'SIGTERM' to process[ros2_control_node-1] ×2 + 11.18sINFOlaunchprocess[web_bridge_auth_proxy-24] was required: shutting down launched system ×2 + 11.18sINFOvideo_server2026/11/11 19:41:04 INF shutting down gracefully ×2 + 11.18sINFOvideo_server2026/11/11 19:41:04 INF [WebRTC] closing ×2 + 11.18sINFOvideo_server2026/11/11 19:41:04 INF [RTSP] closing ×2 + 11.18sINFOvideo_server2026/11/11 19:41:04 INF waiting for running hooks ×2 + 11.18sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.18sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.18sERRORplanning_scene_serverterminate called after throwing an instance of 'std::runtime_error' ×2 + 11.18sERRORplanning_scene_serverwhat(): context cannot be slept with because it's invalid ×2 + 11.18sERRORplanning_scene_serverStack trace (most recent call last) in thread 8867: ×2 + 11.18sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×12 + 11.18sINFOcontroller_managerShutdown request received.... + 11.18sINFOcontroller_managerShutting down all controllers in the controller manager. + 11.18sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 11.18sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 11.18sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 11.18sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 11.18sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 11.18sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 11.18sINFOcontroller_managerDeactivating controller 'joint_trajectory_admittance_controller' + 11.18sINFOcontroller_managerShutting down controller 'joint_trajectory_admittance_controller' + 11.19sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 11.19sINFOcontroller_managerDeactivating controller 'robotiq_gripper_controller' + 11.19sINFOcontroller_managerShutting down controller 'robotiq_gripper_controller' + 11.19sINFOcontroller_managerShutting down the controller manager. + 11.19sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.19sINFOplanning_scene_server#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 11.19sINFOros2_control_nodeShutdown request received....[0m ×2 + 11.19sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m ×2 + 11.19sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m ×2 + 11.19sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m ×2 + 11.19sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m ×2 + 11.19sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m ×2 + 11.19sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m ×2 + 11.19sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m ×2 + 11.19sINFOros2_control_nodeDeactivating controller 'joint_trajectory_admittance_controller'[0m ×2 + 11.19sINFOros2_control_nodeShutting down controller 'joint_trajectory_admittance_controller'[0m ×2 + 11.19sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m ×2 + 11.19sINFOros2_control_nodeDeactivating controller 'robotiq_gripper_controller'[0m ×2 + 11.19sINFOros2_control_nodeShutting down controller 'robotiq_gripper_controller'[0m ×2 + 11.19sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m ×2 + 11.19sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m ×2 + 11.19sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m ×2 + 11.19sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m ×2 + 11.19sINFOros2_control_nodeShutting down the controller manager.[0m ×2 + 11.19sINFOplanning_scene_server#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f04f41eccc3, in __clone ×2 + 11.19sINFOplanning_scene_server#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f04f415fb83, in ×2 + 11.19sINFOplanning_scene_server#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f04f43f0db3, in ×2 + 11.19sWARNparameter_manager_nodeROS node was shutdown. ×2 + 11.19sINFOplanning_scene_server#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so", at 0x7f04f52d63a4, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() ×2 + 11.19sINFOplanning_scene_server#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f04f490d620, in rclcpp::Rate::sleep() ×2 + 11.19sINFOplanning_scene_server#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f04f484fd18, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) ×2 + 11.19sINFOplanning_scene_server#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f04f4811087, in ×2 + 11.19sINFOplanning_scene_server#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f04f43bf390, in __cxa_throw ×2 + 11.19sINFOplanning_scene_server#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f04f43a9a54, in std::terminate() ×2 + 11.19sINFOplanning_scene_server#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f04f43bf0d9, in ×2 + 11.19sINFOplanning_scene_server#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f04f43a9ff4, in ×2 + 11.19sINFOplanning_scene_server#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f04f40eb8fe, in abort ×2 + 11.19sINFOplanning_scene_server#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f04f410827d, in raise ×2 + 11.19sINFOplanning_scene_server#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f04f4161c0c, in pthread_kill ×2 + 11.19sERRORplanning_scene_serverAborted (Signal sent by tkill() 8356 0) ×2 + 11.20sERRORplanning_scene_server-9process has died [pid 8356, exit code -6, cmd '/opt/overlay_ws/install/moveit_pro_planning_scene_server/lib/moveit_pro_planning_scene_server/planning_scene_server --ros-args --log-level error --ros-args --params-file /tmp/launch_params__7y4spby --params-file /tmp/launch_params_94aqbmvd --params-file /tmp/launch_params_nd24bn6g --params-file /tmp/launch_params_w3sgpiv3 --params-file /tmp/launch_params_d8j5zzg4']. ×2 + 11.39sINFOros2_control_nodeAsync messages lost 0[0m ×4 + 11.39sINFOros2_control_nodepublish_async_failures_ 1[0m ×2 + 11.40sINFOros2_control_nodepublish_async_failures_ 0[0m ×2 + 12.15sERRORjoint_state_visualization_relayTraceback (most recent call last): ×2 + 12.15sINFOjoint_state_visualization_relayFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/joint_state_visualization_relay", line 33, in <module> ×2 + 12.15sINFOjoint_state_visualization_relaysys.exit(load_entry_point('moveit-studio-bridge==10.3.0', 'console_scripts', 'joint_state_visualization_relay')()) ×2 + 12.15sINFOjoint_state_visualization_relay^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 12.15sINFOjoint_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 + 12.15sINFOjoint_state_visualization_relayrclpy.spin(node) ×2 + 12.15sINFOjoint_state_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 12.15sINFOjoint_state_visualization_relayexecutor.spin_once() ×2 + 12.15sINFOjoint_state_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 12.15sINFOjoint_state_visualization_relayself._spin_once_impl(timeout_sec) ×2 + 12.16sINFOjoint_state_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 12.16sINFOjoint_state_visualization_relayhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 12.16sINFOjoint_state_visualization_relay^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 12.16sINFOjoint_state_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 12.16sINFOjoint_state_visualization_relayreturn next(self._cb_iter) ×2 + 12.16sINFOjoint_state_visualization_relay^^^^^^^^^^^^^^^^^^^ ×2 + 12.16sINFOjoint_state_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks ×2 + 12.16sINFOjoint_state_visualization_relayraise ExternalShutdownException() ×2 + 12.16sINFOjoint_state_visualization_relayrclpy.executors.ExternalShutdownException ×2 + 12.17sINFOtf2_web_republisher_node-22process has finished cleanly [pid 8474] ×2 + 12.17sINFOlaunchprocess[tf2_web_republisher_node-22] was required: shutting down launched system ×2 + 12.20sERRORjoint_state_visualization_relay-21process has died [pid 8472, 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__x35u_lj']. ×2 + 12.20sINFOlaunchprocess[joint_state_visualization_relay-21] was required: shutting down launched system ×2 + 12.21sINFOtf_visualization_relay-20process has finished cleanly [pid 8471] ×2 + 12.21sINFOmove_end_effector_resampler_node-13process has finished cleanly [pid 8368] ×2 + 12.21sINFOlaunchprocess[tf_visualization_relay-20] was required: shutting down launched system ×2 + 12.21sINFOmove_joint_resampler_node-12process has finished cleanly [pid 8365] ×2 + 12.24sINFOui_teleop_bridge-18process has finished cleanly [pid 8397] ×2 + 12.24sINFOparameter_manager_node-10process has finished cleanly [pid 8357] ×2 + 12.25sINFOexecute_objective_bridge-17process has finished cleanly [pid 8396] ×2 + 12.25sINFOwaypoint_manager_node-11process has finished cleanly [pid 8362] ×2 + 12.29sINFOcomponent_container_mt-16process has finished cleanly [pid 8379] ×2 + 12.31sINFOobjective_server_node[0;m[2026-11-11 19:41:05.779] [moveit_pro_license] [info] ×2 + 12.31sINFOobjective_server_node************************************************* ×4 + 12.31sINFOobjective_server_node* MoveIt Pro License ×2 + 12.32sINFOobjective_server_node* Application has successfully terminated ×2 + 12.61sINFOobjective_server_node_main-14process has finished cleanly [pid 8371] ×2 + 12.61sINFOlaunchprocess[objective_server_node_main-14] was required: shutting down launched system ×2 + 13.32sINFOweb_bridge-19process has finished cleanly [pid 8398] ×2 + 13.32sINFOlaunchprocess[web_bridge-19] was required: shutting down launched system ×2 + 13.34sINFOcomponent_container_mt-15process has finished cleanly [pid 8374] ×2 + 13.91sINFOros2_control_node-1process has finished cleanly [pid 8337] ×2 | ||||
| ✓ passed | Load and Execute Joint Trajectory | load_and_execute_joint_trajectory.xml | 11.7s | 3 warnings · 203 info |
+ 0.00sINFOobjective_server_nodeObjective `Live Surface Coverage Demo` succeeded at time: 1794425831.42967606 seconds ×3 + 0.00sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.00sINFOros2_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 + 0.65sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1794425832.08100510 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.72sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.80sINFOobjective_server_nodeFound path in 0 iterations (2.2e-07 s). ×2 + 0.80sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 0.81sINFOros2_control_node[2026-11-11 19:37:12.234] [info] Received new action goal ×2 + 0.81sINFOros2_control_node[2026-11-11 19:37:12.234] [info] Accepted new action goal ×2 + 3.13sINFOros2_control_node[2026-11-11 19:37:14.559] [info] Received new action goal ×2 + 3.13sINFOros2_control_node[2026-11-11 19:37:14.559] [info] Accepted new action goal ×2 + 11.69sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1794425843.12243772 seconds ×3 + 12.23sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load MuJoCo Robot State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 12.23sINFOobjective_server_nodeobjective_name: "Load MuJoCo Robot State" ×2 + 12.27sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1794425843.70443964 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 12.32sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 12.32sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 12.33sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 12.33sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 12.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.705337 ms (missed cycles : 2). + 12.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.705337 ms (missed cycles : 2).[0m ×2 + 12.34sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1794425843.77457833 seconds ×3 + 13.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 13.08sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 13.12sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1794425844.55091739 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 13.21sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 13.21sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 13.22sINFOros2_control_node[2026-11-11 19:37:24.645] [info] Received new action goal ×2 + 13.22sINFOros2_control_node[2026-11-11 19:37:24.645] [info] Accepted new action goal ×2 + 15.22sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1794425846.65107751 seconds ×3 | ||||
| ✓ passed | Push Button | move_with_velocity_and_force.xml | 11.5s | 1948 info |
+ 0.00sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: velocity_force_controller ×6 + 0.00sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 0.00sINFOcontroller_managerDeactivating controllers: [ velocity_force_controller ] ×2 + 0.00sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 0.00sINFOros2_control_nodeDeactivating controllers: [ velocity_force_controller ][0m ×4 + 0.00sINFOcontroller_managerDeactivated controllers: [ velocity_force_controller ] ×2 + 0.00sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 0.00sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.00sINFOros2_control_nodeDeactivated controllers: [ velocity_force_controller ][0m ×4 + 0.00sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 0.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.90sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.91sINFOros2_control_node[2026-11-11 19:38:09.056] [info] Received new action goal ×2 + 0.91sINFOros2_control_node[2026-11-11 19:38:09.056] [info] Accepted new action goal ×2 + 2.07sINFOobjective_server_nodeObjective `Move Flasks to Burners` succeeded at time: 1794425890.21306467 seconds ×3 + 2.10sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.10sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.10sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.10sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.11sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.11sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Push Button"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.64sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.64sINFOobjective_server_nodeobjective_name: "Push Button" ×2 + 2.64sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.64sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.64sINFOobjective_server_nodecaller: ×4 + 2.64sINFOobjective_server_nodetype: 0 ×4 + 2.64sINFOobjective_server_nodename: "" ×4 + 2.64sINFOobjective_server_nodeinstance_id: "" ×4 + 2.64sINFOobjective_server_node ×4 + 2.83sINFOobjective_server_nodeObjective `Push Button` starting at time: 1794425890.97593617 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.75sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.83sINFOobjective_server_nodeFound path in 0 iterations (6.2e-07 s). ×2 + 3.84sINFOobjective_server_nodePath shortcutter: [X___________________________X] ×2 + 3.86sINFOros2_control_node[2026-11-11 19:38:12.000] [info] Received new action goal ×2 + 3.86sINFOros2_control_node[2026-11-11 19:38:12.000] [info] Accepted new action goal ×2 + 7.55sINFOobjective_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 + 7.55sINFOcontroller_managerActivating controllers: [ velocity_force_controller ] + 7.55sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 7.55sINFOros2_control_nodeActivating controllers: [ velocity_force_controller ][0m ×2 + 7.55sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 7.55sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 7.55sINFOcontroller_managerActivated controllers: [ velocity_force_controller ] + 7.55sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 7.56sINFOros2_control_nodeActivated controllers: [ velocity_force_controller ][0m ×2 + 9.95sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 9.96sINFOobjective_server_nodePath shortcutter: [X_________________________X] ×2 + 9.97sINFOros2_control_node[2026-11-11 19:38:18.112] [info] Received new action goal ×2 + 9.97sINFOros2_control_node[2026-11-11 19:38:18.112] [info] Accepted new action goal ×2 + 13.57sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1794425901.71771455 seconds ×3 + 14.11sINFOobjective_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: ""
+ 14.11sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample" ×2 + 14.17sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1794425902.31195545 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.31sINFOobjective_server_nodeFound path in 0 iterations (2.2e-07 s). ×2 + 14.31sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 14.32sINFOros2_control_node[2026-11-11 19:38:22.465] [info] Received new action goal ×2 + 14.32sINFOros2_control_node[2026-11-11 19:38:22.465] [info] Accepted new action goal ×2 + 15.59sINFOobjective_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 + 15.59sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 15.65sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 15.65sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 15.65sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 15.65sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 16.14sINFOjoint_trajectory_controllerReceived new action goal ×288 + 16.14sINFOjoint_trajectory_controllerAccepted new action goal ×288 + 16.14sINFOros2_control_nodeReceived new action goal[0m ×576 + 16.14sINFOros2_control_nodeAccepted new action goal[0m ×576 | ||||
| ✓ passed | 3 Waypoints Pick and Place | 3_waypoint_pick_and_place.xml | 11.2s | 3 errors · 3 warnings · 398 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×12 + 0.00sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×12 + 0.00sINFOobjective_server_nodecaller: ×12 + 0.00sINFOobjective_server_nodetype: 0 ×12 + 0.00sINFOobjective_server_nodename: "" ×12 + 0.00sINFOobjective_server_nodeinstance_id: "" ×12 + 0.00sINFOobjective_server_node ×12 + 0.04sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1794425743.15414762 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.04sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×4 + 0.04sINFOros2_control_nodeReceived & accepted new action goal[0m ×8 + 0.10sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1794425743.21432042 seconds ×3 + 0.11sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×5 + 0.11sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×10 + 0.11sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.11sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.11sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.11sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×5 + 0.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×10 + 0.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×5 + 0.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×10 + 0.63sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.71sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 0.75sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1794425743.86065555 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.77sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1794425743.88081050 seconds ×3 + 1.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.30sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1794425744.45488238 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1794425744.60535216 seconds ×3 + 2.12sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.12sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.16sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1794425745.27287245 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.17sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.17sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.18sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.18sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.18sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.104188 ms (missed cycles : 2). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.104188 ms (missed cycles : 2).[0m ×2 + 2.21sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1794425745.32304239 seconds ×3 + 2.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.84sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 2.92sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1794425746.03538156 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.93sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 2.93sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 2.93sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 2.93sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 2.93sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 2.94sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 2.94sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 2.94sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 2.94sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.01sINFOobjective_server_nodeFound path in 0 iterations (1.5841e-05 s). ×2 + 3.02sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 3.03sINFOros2_control_node[2026-11-11 19:35:46.141] [info] Received new action goal ×2 + 3.03sINFOros2_control_node[2026-11-11 19:35:46.141] [info] Accepted new action goal ×2 + 5.42sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×15 + 5.50sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). ×2 + 5.50sINFOobjective_server_nodePath shortcutter: [X___________________X] ×4 + 5.52sINFOros2_control_node[2026-11-11 19:35:48.629] [info] Received new action goal ×2 + 5.52sINFOros2_control_node[2026-11-11 19:35:48.629] [info] Accepted new action goal ×2 + 9.12sINFOobjective_server_nodeFound path in 0 iterations (2.49e-07 s). ×2 + 9.14sINFOros2_control_node[2026-11-11 19:35:52.249] [info] Received new action goal ×2 + 9.14sINFOros2_control_node[2026-11-11 19:35:52.250] [info] Accepted new action goal ×2 + 12.43sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×2 + 12.43sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 12.45sINFOros2_control_node[2026-11-11 19:35:55.559] [info] Received new action goal ×2 + 12.45sINFOros2_control_node[2026-11-11 19:35:55.559] [info] Accepted new action goal ×2 + 13.35sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 13.35sINFOros2_control_node[2026-11-11 19:35:56.466] [info] Got request to cancel active goal. ×2 + 13.35sINFOros2_control_node[2026-11-11 19:35:56.466] [info] Canceling active goal... ×2 + 13.38sERRORobjective_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: 1794425756.49040842 seconds ×3 + 13.38sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 13.38sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 13.39sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 13.39sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 13.39sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 13.39sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 13.91sINFOobjective_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: ""
+ 13.91sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place with AprilTags" ×2 + 13.99sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place with AprilTags` starting at time: 1794425757.10056996 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.22sINFOobjective_server_nodeFound path in 0 iterations (2.3e-07 s). ×2 + 14.23sINFOros2_control_node[2026-11-11 19:35:57.344] [info] Received new action goal ×2 + 14.23sINFOros2_control_node[2026-11-11 19:35:57.344] [info] Accepted new action goal ×2 + 16.47sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 16.47sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 16.48sINFOros2_control_node[2026-11-11 19:35:59.594] [info] Received new action goal ×2 + 16.48sINFOros2_control_node[2026-11-11 19:35:59.594] [info] Accepted new action goal ×2 | ||||
| ✓ passed | Pick April Tag Labeled Object With Approval | pick_april_tag_object_with_approval.xml | 11.1s | 9 warnings · 3000 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×467 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×467 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×934 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×934 + 1.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.727079 ms (missed cycles : 2). + 1.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.727079 ms (missed cycles : 2).[0m ×2 + 2.79sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1794425954.26729155 seconds ×3 + 2.79sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 2.79sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 2.79sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 2.79sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 2.89sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.89sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.89sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.89sINFOcontroller_managerSuccessfully switched controllers! ×5 + 2.89sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.89sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 2.90sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.90sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.90sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.42sINFOobjective_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: ""
+ 3.42sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.42sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.42sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.42sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.42sINFOobjective_server_nodecaller: ×4 + 3.42sINFOobjective_server_nodetype: 0 ×4 + 3.42sINFOobjective_server_nodename: "" ×4 + 3.42sINFOobjective_server_nodeinstance_id: "" ×4 + 3.42sINFOobjective_server_node ×4 + 3.52sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1794425955.00107145 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.52sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.52sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.61sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.62sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.62sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.62sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.62sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.62sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.62sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.62sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.62sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.69sINFOobjective_server_nodeFound path in 0 iterations (3.09e-07 s). ×2 + 3.69sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.70sINFOros2_control_node[2026-11-11 19:39:15.174] [info] Received new action goal ×2 + 3.70sINFOros2_control_node[2026-11-11 19:39:15.174] [info] Accepted new action goal ×2 + 5.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.864723 ms (missed cycles : 3). + 5.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.864723 ms (missed cycles : 3).[0m ×2 + 6.62sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 6.62sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 6.62sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 6.89sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). ×2 + 6.89sINFOobjective_server_nodePath shortcutter: [X_________X] ×4 + 6.89sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×2 + 6.90sINFOobjective_server_nodePath shortcutter: [X_______________X] ×2 + 6.90sINFOobjective_server_nodeFound path in 0 iterations (2.3e-07 s). ×2 + 6.96sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 6.98sINFOobjective_server_nodeFound path in 1 iterations (0.00211527 s). ×2 + 7.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.716191 ms (missed cycles : 3). + 7.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.716191 ms (missed cycles : 3).[0m ×2 + 7.08sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________X__________________X] ×2 + 7.12sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×3 + 7.12sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 7.14sINFOros2_control_node[2026-11-11 19:39:18.622] [info] Received new action goal ×2 + 7.14sINFOros2_control_node[2026-11-11 19:39:18.622] [info] Accepted new action goal ×2 + 9.45sINFOros2_control_node[2026-11-11 19:39:20.925] [info] Received new action goal ×2 + 9.45sINFOros2_control_node[2026-11-11 19:39:20.925] [info] Accepted new action goal ×2 + 11.05sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 11.07sINFOros2_control_node[2026-11-11 19:39:22.545] [info] Received new action goal ×2 + 11.07sINFOros2_control_node[2026-11-11 19:39:22.545] [info] Accepted new action goal ×2 + 12.36sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1794425963.84127665 seconds ×3 + 14.02sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 14.02sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 14.03sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 14.03sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 14.03sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 14.03sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 14.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.55sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 14.63sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1794425966.11365533 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.78sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 14.79sINFOros2_control_node[2026-11-11 19:39:26.267] [info] Received new action goal ×2 + 14.79sINFOros2_control_node[2026-11-11 19:39:26.267] [info] Accepted new action goal ×2 + 16.70sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| ✓ passed | Record and Replay Scanning Motion | record_and_replay_scanning_motion.xml | 11.1s | 3 errors · 125 info |
+ 0.00sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1794425986.90437794 seconds ×3 + 0.01sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 0.01sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 0.01sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×4 + 0.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 0.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 0.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 0.02sINFOcontroller_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 + 0.60sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1794425987.50019526 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.62sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.69sINFOobjective_server_nodeFound path in 0 iterations (4.8e-07 s). ×2 + 0.69sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 0.70sINFOros2_control_node[2026-11-11 19:39:47.603] [info] Received new action goal ×2 + 0.70sINFOros2_control_node[2026-11-11 19:39:47.603] [info] Accepted new action goal ×2 + 2.61sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 11.06sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 11.07sERRORobjective_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: 1794425997.97051358 seconds ×3 + 11.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Record Square Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 11.61sINFOobjective_server_nodeobjective_name: "Record Square Trajectory" ×2 + 11.66sINFOobjective_server_nodeObjective `Record Square Trajectory` starting at time: 1794425998.56261945 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 11.79sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 11.80sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 11.81sINFOros2_control_node[2026-11-11 19:39:58.716] [info] Received new action goal ×2 + 11.81sINFOros2_control_node[2026-11-11 19:39:58.716] [info] Accepted new action goal ×2 | ||||
| ✓ passed | Grasp Pose Tuning With April Tag | grasp_pose_tuning_with_april_tag.xml | 11.1s | 9 errors · 15 warnings · 193 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 0.07sINFOobjective_server_nodeFound path in 0 iterations (5.5e-07 s). ×2 + 0.07sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.08sINFOros2_control_node[2026-11-11 19:36:27.269] [info] Received new action goal ×2 + 0.08sINFOros2_control_node[2026-11-11 19:36:27.269] [info] Accepted new action goal ×2 + 2.27sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.28sINFOros2_control_node[2026-11-11 19:36:29.468] [info] Got request to cancel active goal. ×2 + 2.28sINFOros2_control_node[2026-11-11 19:36:29.468] [info] Canceling active goal... ×2 + 2.28sERRORobjective_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: 1794425789.47030973 seconds ×3 + 2.32sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.32sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.32sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.32sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.32sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.32sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.32sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.32sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.85sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.85sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.85sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.85sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.85sINFOobjective_server_nodecaller: ×4 + 2.85sINFOobjective_server_nodetype: 0 ×4 + 2.85sINFOobjective_server_nodename: "" ×4 + 2.85sINFOobjective_server_nodeinstance_id: "" ×4 + 2.85sINFOobjective_server_node ×4 + 2.90sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1794425790.09298325 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.91sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.91sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.07sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 3.07sINFOobjective_server_nodePath shortcutter: [X_______X] ×4 + 3.08sINFOros2_control_node[2026-11-11 19:36:30.267] [info] Received new action goal ×2 + 3.08sINFOros2_control_node[2026-11-11 19:36:30.267] [info] Accepted new action goal ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.279454 ms (missed cycles : 3). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.279454 ms (missed cycles : 3).[0m ×2 + 5.89sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 5.89sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 5.89sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 6.16sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 6.16sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 6.16sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). ×2 + 6.16sINFOobjective_server_nodePath shortcutter: [X_______________X] ×2 + 6.17sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×4 + 6.19sINFOobjective_server_nodePath shortcutter: [X_________________________________X] ×2 + 6.20sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×2 + 6.25sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 6.27sINFOobjective_server_nodeFound path in 5 iterations (0.00396278 s). ×2 + 6.32sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________X_X_______________________X] ×2 + 6.34sINFOobjective_server_nodeFound path in 0 iterations (2e-07 s). ×2 + 6.40sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X] ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.747661 ms (missed cycles : 5). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.747661 ms (missed cycles : 5).[0m ×2 + 6.41sINFOobjective_server_nodeFound path in 0 iterations (2.1e-07 s). ×2 + 6.50sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X] ×2 + 6.60sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________X] ×2 + 6.70sINFOros2_control_node[2026-11-11 19:36:33.888] [info] Received new action goal ×2 + 6.70sINFOros2_control_node[2026-11-11 19:36:33.888] [info] Accepted new action goal ×2 + 8.96sINFOparameter_manager_nodeRetrieving pose from parameter manager. ×3 + 9.22sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal. + 9.22sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal.[0m ×2 + 9.22sERRORobjective_server_nodeDoTeleoperateAction Error: Failed to send goal request to action server 'do_teleoperate': Goal request was rejected by the action server ×3 + 9.26sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Tuning With April Tag` did not succeed at time: 1794425796.44487929 seconds ×3 + 9.26sINFOobjective_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 + 13.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Using Yaml"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 13.91sINFOobjective_server_nodeobjective_name: "Grasp Pose Using Yaml" ×2 + 13.99sINFOobjective_server_nodeObjective `Grasp Pose Using Yaml` starting at time: 1794425801.17963481 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.16sINFOobjective_server_nodeFound path in 0 iterations (2.51e-07 s). ×2 + 14.16sINFOros2_control_node[2026-11-11 19:36:41.353] [info] Received new action goal ×2 + 14.16sINFOros2_control_node[2026-11-11 19:36:41.353] [info] Accepted new action goal ×2 + 16.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.783543 ms (missed cycles : 4). + 16.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.783543 ms (missed cycles : 4).[0m ×2 + 16.55sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 17.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.010477 ms (missed cycles : 2). + 17.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.010477 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Grasp Pose Using Yaml | grasp_pose_using_yaml.xml | 11.0s | 3 errors · 12 warnings · 213 info |
+ 0.00sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 0.00sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 0.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 0.00sINFOcontroller_managerSuccessfully switched controllers! ×4 + 0.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 0.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 0.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 0.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 0.01sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 0.01sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 0.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Using Yaml"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.53sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.53sINFOobjective_server_nodeobjective_name: "Grasp Pose Using Yaml" ×2 + 0.53sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.53sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.53sINFOobjective_server_nodecaller: ×4 + 0.53sINFOobjective_server_nodetype: 0 ×4 + 0.53sINFOobjective_server_nodename: "" ×4 + 0.53sINFOobjective_server_nodeinstance_id: "" ×4 + 0.53sINFOobjective_server_node ×4 + 0.61sINFOobjective_server_nodeObjective `Grasp Pose Using Yaml` starting at time: 1794425801.17963481 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.70sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 0.78sINFOobjective_server_nodeFound path in 0 iterations (2.51e-07 s). ×2 + 0.78sINFOobjective_server_nodePath shortcutter: [X_______X] ×4 + 0.79sINFOros2_control_node[2026-11-11 19:36:41.353] [info] Received new action goal ×2 + 0.79sINFOros2_control_node[2026-11-11 19:36:41.353] [info] Accepted new action goal ×2 + 2.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.783543 ms (missed cycles : 4). + 2.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.783543 ms (missed cycles : 4).[0m ×2 + 3.18sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.010477 ms (missed cycles : 2). + 3.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.010477 ms (missed cycles : 2).[0m ×2 + 4.51sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 4.51sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 4.51sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 4.77sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×4 + 4.78sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 4.78sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 4.78sINFOobjective_server_nodePath shortcutter: [X_______________X] ×2 + 4.79sINFOobjective_server_nodeFound path in 0 iterations (2.3e-07 s). ×6 + 4.81sINFOobjective_server_nodePath shortcutter: [X_________________________________X] ×2 + 4.87sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 4.89sINFOobjective_server_nodeFound path in 1 iterations (0.00370236 s). ×2 + 4.97sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________X___________________________X] ×2 + 5.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.747115 ms (missed cycles : 2). + 5.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.747115 ms (missed cycles : 2).[0m ×2 + 5.05sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X] ×4 + 5.06sINFOobjective_server_nodeFound path in 0 iterations (2.2e-07 s). ×2 + 5.15sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X] ×2 + 5.17sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×2 + 5.26sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________X] ×2 + 5.35sINFOros2_control_node[2026-11-11 19:36:45.916] [info] Received new action goal ×2 + 5.35sINFOros2_control_node[2026-11-11 19:36:45.916] [info] Accepted new action goal ×2 + 7.86sINFOobjective_server_nodePath shortcutter: [X__X] ×2 + 7.86sINFOobjective_server_nodeFound path in 0 iterations (1.4e-07 s). ×2 + 7.86sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 7.87sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 7.94sINFOobjective_server_nodeFound path in 1 iterations (0.00210221 s). ×2 + 8.04sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________________________X_________________X] ×2 + 8.10sINFOros2_control_node[2026-11-11 19:36:48.665] [info] Received new action goal ×2 + 8.10sINFOros2_control_node[2026-11-11 19:36:48.665] [info] Accepted new action goal ×2 + 8.53sINFOros2_control_node[2026-11-11 19:36:49.097] [info] Received new action goal ×2 + 8.53sINFOros2_control_node[2026-11-11 19:36:49.097] [info] Accepted new action goal ×2 + 10.79sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 10.81sINFOros2_control_node[2026-11-11 19:36:51.373] [info] Received new action goal ×2 + 10.81sINFOros2_control_node[2026-11-11 19:36:51.373] [info] Accepted new action goal ×2 + 11.00sINFOobjective_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 + 11.00sINFOros2_control_node[2026-11-11 19:36:51.569] [info] Got request to cancel active goal. ×2 + 11.00sINFOros2_control_node[2026-11-11 19:36:51.569] [info] Canceling active goal... ×2 + 11.02sERRORobjective_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: 1794425811.58383369 seconds ×3 + 11.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Live Surface Coverage Demo"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 11.60sINFOobjective_server_nodeobjective_name: "Live Surface Coverage Demo" ×2 + 11.71sINFOobjective_server_nodeObjective `Live Surface Coverage Demo` starting at time: 1794425812.27286601 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 12.70sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 12.71sINFOros2_control_node[2026-11-11 19:36:53.276] [info] Received new action goal ×2 + 12.71sINFOros2_control_node[2026-11-11 19:36:53.276] [info] Accepted new action goal ×2 + 14.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.841291 ms (missed cycles : 3). + 14.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.841291 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | 3 Waypoints Pick and Place with AprilTags | 3_waypoint_pick_and_place_apriltags.xml | 11.0s | 6 errors · 25 warnings · 214 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 0.07sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×4 + 0.08sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 0.09sINFOros2_control_node[2026-11-11 19:35:55.559] [info] Received new action goal ×2 + 0.09sINFOros2_control_node[2026-11-11 19:35:55.559] [info] Accepted new action goal ×2 + 1.00sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×6 + 1.00sINFOros2_control_node[2026-11-11 19:35:56.466] [info] Got request to cancel active goal. ×2 + 1.00sINFOros2_control_node[2026-11-11 19:35:56.466] [info] Canceling active goal... ×2 + 1.02sERRORobjective_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: 1794425756.49040842 seconds ×3 + 1.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 1.03sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 1.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.03sINFOcontroller_managerSuccessfully switched controllers! ×6 + 1.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 1.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 1.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 1.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 1.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 1.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 1.56sINFOobjective_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: ""
+ 1.56sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 1.56sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place with AprilTags" ×2 + 1.56sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 1.56sINFOobjective_server_nodeparameter_overrides: [] ×6 + 1.56sINFOobjective_server_nodecaller: ×6 + 1.56sINFOobjective_server_nodetype: 0 ×6 + 1.56sINFOobjective_server_nodename: "" ×6 + 1.56sINFOobjective_server_nodeinstance_id: "" ×6 + 1.56sINFOobjective_server_node ×6 + 1.63sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place with AprilTags` starting at time: 1794425757.10056996 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.86sINFOobjective_server_nodeFound path in 0 iterations (2.3e-07 s). ×2 + 1.86sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 1.88sINFOros2_control_node[2026-11-11 19:35:57.344] [info] Received new action goal ×2 + 1.88sINFOros2_control_node[2026-11-11 19:35:57.344] [info] Accepted new action goal ×2 + 3.96sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.96sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 4.12sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 4.12sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.13sINFOros2_control_node[2026-11-11 19:35:59.594] [info] Received new action goal ×2 + 4.13sINFOros2_control_node[2026-11-11 19:35:59.594] [info] Accepted new action goal ×2 + 7.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.272630 ms (missed cycles : 2). + 7.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.272630 ms (missed cycles : 2).[0m ×2 + 7.76sWARNros2_control_nodeCamera render tick took 1.05 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 + 8.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.008135 ms (missed cycles : 3). + 8.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.008135 ms (missed cycles : 3).[0m ×2 + 9.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.696822 ms (missed cycles : 3). + 9.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.696822 ms (missed cycles : 3).[0m ×2 + 9.08sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: wrist_camera (1.10 s). The render path has stopped producing new frames for them.[0m ×2 + 10.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.102748 ms (missed cycles : 3). + 10.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.102748 ms (missed cycles : 3).[0m ×2 + 11.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.457034 ms (missed cycles : 4). + 11.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.457034 ms (missed cycles : 4).[0m ×2 + 11.72sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 11.72sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 11.72sINFOobjective_server_nodeFound detection with id: 2, label: %s ×3 + 12.00sINFOobjective_server_nodePath shortcutter: [X___________X] ×2 + 12.02sERRORobjective_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: 1794425767.48358154 seconds ×3 + 12.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.781324 ms (missed cycles : 3). + 12.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.781324 ms (missed cycles : 3).[0m ×2 + 12.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 12.56sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 12.64sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1794425768.10229564 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 12.76sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1794425768.22245932 seconds ×3 + 13.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 13.36sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 13.41sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1794425768.87328577 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 13.57sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×2 + 13.57sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 13.58sINFOros2_control_node[2026-11-11 19:36:09.046] [info] Received new action goal ×2 + 13.58sINFOros2_control_node[2026-11-11 19:36:09.046] [info] Accepted new action goal ×2 + 15.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.532479 ms (missed cycles : 4). + 15.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.532479 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Plan and Save Trajectory | plan_and_save_trajectory.xml | 11.0s | 3 errors · 125 info |
+ 0.00sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1794425963.84127665 seconds ×3 + 1.66sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.66sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.66sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.66sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.66sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.66sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.67sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.67sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.67sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.67sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.67sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.19sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.19sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 2.19sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.19sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.19sINFOobjective_server_nodecaller: ×4 + 2.19sINFOobjective_server_nodetype: 0 ×4 + 2.19sINFOobjective_server_nodename: "" ×4 + 2.19sINFOobjective_server_nodeinstance_id: "" ×4 + 2.19sINFOobjective_server_node ×4 + 2.27sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1794425966.11365533 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.34sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 2.42sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 2.42sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 2.43sINFOros2_control_node[2026-11-11 19:39:26.267] [info] Received new action goal ×2 + 2.43sINFOros2_control_node[2026-11-11 19:39:26.267] [info] Accepted new action goal ×2 + 4.34sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 12.62sINFOobjective_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 + 12.63sERRORobjective_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: 1794425976.47427511 seconds ×3 + 13.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Playback Square Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 13.20sINFOobjective_server_nodeobjective_name: "Playback Square Trajectory" ×2 + 13.24sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1794425977.08367062 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 13.44sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 13.45sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 13.46sINFOros2_control_node[2026-11-11 19:39:37.300] [info] Received new action goal ×2 + 13.46sINFOros2_control_node[2026-11-11 19:39:37.300] [info] Accepted new action goal ×2 | ||||
| ✓ passed | Stationary Admittance | stationary_admittance.xml | 10.9s | 3 errors · 15 warnings · 410 info |
+ 0.00sINFOobjective_server_nodeObjective `Record Surface Coverage Demo` succeeded at time: 1794426041.02230239 seconds ×3 + 0.10sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×8 + 0.10sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×16 + 0.10sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.10sINFOcontroller_managerSuccessfully switched controllers! ×16 + 0.10sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×32 + 0.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×8 + 0.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×16 + 0.11sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×8 + 0.11sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×16 + 0.63sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.63sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.63sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 0.63sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.63sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.63sINFOobjective_server_nodecaller: ×14 + 0.63sINFOobjective_server_nodetype: 0 ×14 + 0.63sINFOobjective_server_nodename: "" ×14 + 0.63sINFOobjective_server_nodeinstance_id: "" ×14 + 0.63sINFOobjective_server_node ×14 + 0.83sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1794426041.85117364 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.86sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 0.86sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 0.88sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 0.88sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 0.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.845924 ms (missed cycles : 2). + 0.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.845924 ms (missed cycles : 2).[0m ×2 + 0.90sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1794426041.92140436 seconds ×3 + 1.44sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.44sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 1.48sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1794426042.50277996 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.50sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 1.50sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1794426042.52414560 seconds ×3 + 2.09sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.09sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 2.16sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1794426043.17847824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.17sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 2.24sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). ×2 + 2.24sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 2.25sINFOros2_control_node[2026-11-11 19:40:43.272] [info] Received new action goal ×2 + 2.25sINFOros2_control_node[2026-11-11 19:40:43.272] [info] Accepted new action goal ×2 + 2.72sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.56sINFOobjective_server_nodeLogMessage Info: Running admittance mode for 10 seconds ×3 + 5.56sINFOros2_control_node[2026-11-11 19:40:46.582] [info] Received new action goal ×2 + 5.56sINFOros2_control_node[2026-11-11 19:40:46.582] [info] Accepted new action goal ×2 + 12.44sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 12.45sINFOros2_control_node[2026-11-11 19:40:53.468] [info] Got request to cancel active goal. ×2 + 12.45sINFOros2_control_node[2026-11-11 19:40:53.468] [info] Canceling active goal... ×2 + 12.45sERRORobjective_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: 1794426053.47299886 seconds ×3 + 12.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 12.99sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 13.03sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1794426054.05368376 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 13.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.105547 ms (missed cycles : 2). + 13.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.105547 ms (missed cycles : 2).[0m ×2 + 13.78sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1794426054.80387449 seconds ×3 + 14.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.331928 ms (missed cycles : 3). + 14.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.331928 ms (missed cycles : 3).[0m ×2 + 14.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.32sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 14.37sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1794426055.39059782 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.37sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 14.37sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×3 + 14.37sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 14.37sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1794426055.39269638 seconds ×3 + 14.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.91sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 14.95sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1794426055.97002625 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.98sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1794426056.00082445 seconds ×3 + 15.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 15.51sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 15.56sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1794426056.58547878 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.805690 ms (missed cycles : 4). + 15.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.805690 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Cycle Between Waypoints | cycle_between_waypoints.xml | 10.9s | 3 errors · 6 warnings · 258 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.36sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.37sINFOros2_control_node[2026-11-11 19:36:16.576] [info] Received new action goal ×2 + 0.37sINFOros2_control_node[2026-11-11 19:36:16.576] [info] Accepted new action goal ×2 + 1.67sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1794425777.87348866 seconds ×3 + 1.67sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 1.67sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 1.67sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.67sINFOcontroller_managerSuccessfully switched controllers! ×6 + 1.67sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.67sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 1.68sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 1.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.68sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 1.68sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 1.68sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 1.68sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.20sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.20sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.20sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.20sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.20sINFOobjective_server_nodecaller: ×6 + 2.20sINFOobjective_server_nodetype: 0 ×6 + 2.20sINFOobjective_server_nodename: "" ×6 + 2.20sINFOobjective_server_nodeinstance_id: "" ×6 + 2.20sINFOobjective_server_node ×6 + 2.27sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1794425778.48020768 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.34sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1794425778.55036306 seconds ×3 + 2.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.93sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 2.98sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1794425779.18830490 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.99sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×15 + 3.07sINFOobjective_server_nodeFound path in 0 iterations (2.2e-07 s). ×2 + 3.07sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.09sINFOros2_control_node[2026-11-11 19:36:19.292] [info] Received new action goal ×2 + 3.09sINFOros2_control_node[2026-11-11 19:36:19.292] [info] Accepted new action goal ×2 + 6.40sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). ×4 + 6.41sINFOobjective_server_nodePath shortcutter: [X________X] ×6 + 6.42sINFOros2_control_node[2026-11-11 19:36:22.621] [info] Received new action goal ×2 + 6.42sINFOros2_control_node[2026-11-11 19:36:22.621] [info] Accepted new action goal ×2 + 8.73sINFOros2_control_node[2026-11-11 19:36:24.939] [info] Received new action goal ×2 + 8.73sINFOros2_control_node[2026-11-11 19:36:24.939] [info] Accepted new action goal ×2 + 11.06sINFOobjective_server_nodeFound path in 0 iterations (5.5e-07 s). ×2 + 11.06sINFOros2_control_node[2026-11-11 19:36:27.269] [info] Received new action goal ×2 + 11.06sINFOros2_control_node[2026-11-11 19:36:27.269] [info] Accepted new action goal ×2 + 13.26sINFOobjective_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 + 13.26sINFOros2_control_node[2026-11-11 19:36:29.468] [info] Got request to cancel active goal. ×2 + 13.26sINFOros2_control_node[2026-11-11 19:36:29.468] [info] Canceling active goal... ×2 + 13.26sERRORobjective_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: 1794425789.47030973 seconds ×3 + 13.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 13.83sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 13.89sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1794425790.09298325 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.05sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 14.05sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 14.06sINFOros2_control_node[2026-11-11 19:36:30.267] [info] Received new action goal ×2 + 14.06sINFOros2_control_node[2026-11-11 19:36:30.267] [info] Accepted new action goal ×2 + 16.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.279454 ms (missed cycles : 3). + 16.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.279454 ms (missed cycles : 3).[0m ×2 + 16.87sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 16.87sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 16.88sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 17.14sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 17.14sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 17.15sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). ×2 + 17.15sINFOobjective_server_nodePath shortcutter: [X_______________X] ×2 + 17.15sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×4 + 17.17sINFOobjective_server_nodePath shortcutter: [X_________________________________X] ×2 + 17.19sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×2 + 17.24sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 17.25sINFOobjective_server_nodeFound path in 5 iterations (0.00396278 s). ×2 + 17.31sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________X_X_______________________X] ×2 + 17.33sINFOobjective_server_nodeFound path in 0 iterations (2e-07 s). ×2 + 17.38sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X] ×2 + 17.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.747661 ms (missed cycles : 5). + 17.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.747661 ms (missed cycles : 5).[0m ×2 + 17.40sINFOobjective_server_nodeFound path in 0 iterations (2.1e-07 s). ×2 + 17.48sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X] ×2 | ||||
| ✓ passed | Record Square Trajectory | record_square_trajectory.xml | 10.4s | 3 errors · 3 warnings · 147 info |
+ 0.00sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sERRORobjective_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: 1794425997.97051358 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 + 0.60sINFOobjective_server_nodeObjective `Record Square Trajectory` starting at time: 1794425998.56261945 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.64sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.73sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 0.74sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 0.75sINFOros2_control_node[2026-11-11 19:39:58.716] [info] Received new action goal ×2 + 0.75sINFOros2_control_node[2026-11-11 19:39:58.716] [info] Accepted new action goal ×2 + 5.07sINFOros2_control_node[2026-11-11 19:40:03.038] [info] Received new action goal ×2 + 5.07sINFOros2_control_node[2026-11-11 19:40:03.038] [info] Accepted new action goal ×2 + 7.10sINFOros2_control_node[2026-11-11 19:40:05.059] [info] Received new action goal ×2 + 7.10sINFOros2_control_node[2026-11-11 19:40:05.059] [info] Accepted new action goal ×2 + 7.60sINFOros2_control_node[2026-11-11 19:40:05.560] [info] Received new action goal ×2 + 7.60sINFOros2_control_node[2026-11-11 19:40:05.560] [info] Accepted new action goal ×2 + 9.67sINFOros2_control_node[2026-11-11 19:40:07.631] [info] Received new action goal ×2 + 9.67sINFOros2_control_node[2026-11-11 19:40:07.631] [info] Accepted new action goal ×2 + 10.44sINFOobjective_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 + 10.44sINFOobjective_server_nodeObjective `Record Square Trajectory` succeeded at time: 1794426008.40795803 seconds ×3 + 10.98sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Record Surface Coverage Demo"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 10.98sINFOobjective_server_nodeobjective_name: "Record Surface Coverage Demo" ×2 + 11.08sINFOobjective_server_nodeObjective `Record Surface Coverage Demo` starting at time: 1794426009.04176188 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 11.08sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 11.08sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 12.07sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 12.07sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 12.08sINFOros2_control_node[2026-11-11 19:40:10.045] [info] Received new action goal ×2 + 12.08sINFOros2_control_node[2026-11-11 19:40:10.045] [info] Accepted new action goal ×2 + 14.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.551946 ms (missed cycles : 3). + 14.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.551946 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Playback Square Trajectory | playback_square_trajectory.xml | 10.4s | 3 errors · 131 info |
+ 0.00sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan and Save Trajectory` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1794425976.47427511 seconds ×3 + 0.02sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 0.02sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 0.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 0.02sINFOcontroller_managerSuccessfully switched controllers! ×4 + 0.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 0.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 0.05sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 0.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.05sINFOcontroller_managerActivating controllers: [ 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 + 0.62sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1794425977.08367062 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.74sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.82sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 0.82sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 0.84sINFOros2_control_node[2026-11-11 19:39:37.300] [info] Received new action goal ×2 + 0.84sINFOros2_control_node[2026-11-11 19:39:37.300] [info] Accepted new action goal ×2 + 4.85sINFOros2_control_node[2026-11-11 19:39:41.318] [info] Received new action goal ×2 + 4.85sINFOros2_control_node[2026-11-11 19:39:41.318] [info] Accepted new action goal ×2 + 7.28sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 10.44sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1794425986.90437794 seconds ×3 + 10.98sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Record and Replay Scanning Motion"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 10.98sINFOobjective_server_nodeobjective_name: "Record and Replay Scanning Motion" ×2 + 11.04sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1794425987.50019526 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 11.13sINFOobjective_server_nodeFound path in 0 iterations (4.8e-07 s). ×2 + 11.13sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 11.14sINFOros2_control_node[2026-11-11 19:39:47.603] [info] Received new action goal ×2 + 11.14sINFOros2_control_node[2026-11-11 19:39:47.603] [info] Accepted new action goal ×2 + 13.05sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| ✓ passed | Pick April Tag Labeled Object | apriltag_pick_object.xml | 9.6s | 3 errors · 15 warnings · 278 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.102748 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.102748 ms (missed cycles : 3).[0m ×2 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.457034 ms (missed cycles : 4). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.457034 ms (missed cycles : 4).[0m ×2 + 1.54sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 1.54sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×4 + 1.54sINFOobjective_server_nodeFound detection with id: 2, label: %s ×3 + 1.81sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×4 + 1.82sINFOobjective_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 + 1.82sINFOobjective_server_nodePath shortcutter: [X___________X] ×2 + 1.83sERRORobjective_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: 1794425767.48358154 seconds ×3 + 1.84sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.84sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.84sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 1.84sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.84sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 1.84sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.85sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.85sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 1.85sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.85sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.86sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.86sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.781324 ms (missed cycles : 3). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.781324 ms (missed cycles : 3).[0m ×2 + 2.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.38sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 2.38sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.38sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 2.38sINFOobjective_server_nodeparameter_overrides: [] ×8 + 2.38sINFOobjective_server_nodecaller: ×8 + 2.38sINFOobjective_server_nodetype: 0 ×8 + 2.38sINFOobjective_server_nodename: "" ×8 + 2.38sINFOobjective_server_nodeinstance_id: "" ×8 + 2.38sINFOobjective_server_node ×8 + 2.45sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1794425768.10229564 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.57sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1794425768.22245932 seconds ×3 + 3.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.18sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.22sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1794425768.87328577 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.23sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.23sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.32sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 3.39sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×2 + 3.39sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.40sINFOros2_control_node[2026-11-11 19:36:09.046] [info] Received new action goal ×2 + 3.40sINFOros2_control_node[2026-11-11 19:36:09.046] [info] Accepted new action goal ×2 + 5.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.532479 ms (missed cycles : 4). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.532479 ms (missed cycles : 4).[0m ×2 + 6.44sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 6.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.977760 ms (missed cycles : 5). + 6.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.977760 ms (missed cycles : 5).[0m ×2 + 6.71sINFOobjective_server_nodeFound path in 0 iterations (2.3e-07 s). ×2 + 6.71sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 6.72sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 6.72sINFOobjective_server_nodePath shortcutter: [X_______________X] ×2 + 6.78sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 6.80sINFOobjective_server_nodeFound path in 1 iterations (0.00301673 s). ×2 + 6.89sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________________X__________________X] ×2 + 6.95sINFOros2_control_node[2026-11-11 19:36:12.601] [info] Received new action goal ×2 + 6.95sINFOros2_control_node[2026-11-11 19:36:12.601] [info] Accepted new action goal ×2 + 9.26sINFOros2_control_node[2026-11-11 19:36:14.904] [info] Received new action goal ×2 + 9.26sINFOros2_control_node[2026-11-11 19:36:14.904] [info] Accepted new action goal ×2 + 10.92sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 10.93sINFOros2_control_node[2026-11-11 19:36:16.576] [info] Received new action goal ×2 + 10.93sINFOros2_control_node[2026-11-11 19:36:16.576] [info] Accepted new action goal ×2 + 12.22sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1794425777.87348866 seconds ×3 + 12.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 12.76sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 12.83sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1794425778.48020768 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 12.90sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1794425778.55036306 seconds ×3 + 13.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 13.48sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 13.54sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1794425779.18830490 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 13.63sINFOobjective_server_nodeFound path in 0 iterations (2.2e-07 s). ×2 + 13.63sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 13.64sINFOros2_control_node[2026-11-11 19:36:19.292] [info] Received new action goal ×2 + 13.64sINFOros2_control_node[2026-11-11 19:36:19.292] [info] Accepted new action goal ×2 | ||||
| ✓ passed | Look at Table | look_at_table.xml | 3.9s | 3 warnings · 216 info |
+ 0.00sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1794425843.12243772 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 + 0.02sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load 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 + 0.58sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1794425843.70443964 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.63sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 0.63sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 0.64sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 0.64sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 0.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.705337 ms (missed cycles : 2). + 0.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.705337 ms (missed cycles : 2).[0m ×2 + 0.65sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1794425843.77457833 seconds ×3 + 1.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.38sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 1.43sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1794425844.55091739 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.44sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 1.51sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 1.51sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.52sINFOros2_control_node[2026-11-11 19:37:24.645] [info] Received new action goal ×2 + 1.52sINFOros2_control_node[2026-11-11 19:37:24.645] [info] Accepted new action goal ×2 + 3.53sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1794425846.65107751 seconds ×3 + 5.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.07sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 5.13sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1794425848.25739765 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.14sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 5.14sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 5.22sINFOobjective_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 + 5.23sINFOobjective_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 + 5.48sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×2 + 5.48sINFOobjective_server_nodePath shortcutter: [X_____________X] ×4 + 5.52sINFOros2_control_node[2026-11-11 19:37:28.643] [info] Received new action goal ×2 + 5.52sINFOros2_control_node[2026-11-11 19:37:28.643] [info] Accepted new action goal ×2 + 8.34sINFOobjective_server_nodeFound path in 0 iterations (2.3e-07 s). ×2 + 8.35sINFOros2_control_node[2026-11-11 19:37:31.471] [info] Received new action goal ×2 + 8.35sINFOros2_control_node[2026-11-11 19:37:31.471] [info] Accepted new action goal ×2 | ||||
| ✓ passed | Close Gripper | close_gripper.xml | 1.5s | 5 warnings · 413 info |
+ 0.00sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×2 + 0.06sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.10sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.10sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.10sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.10sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.10sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.10sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.10sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 0.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.13sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.13sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.13sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.13sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.71sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.71sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.71sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.71sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.71sINFOobjective_server_nodecaller: ×14 + 0.71sINFOobjective_server_nodetype: 0 ×14 + 0.71sINFOobjective_server_nodename: "" ×14 + 0.71sINFOobjective_server_nodeinstance_id: "" ×14 + 0.71sINFOobjective_server_node ×14 + 0.75sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1794425741.05292511 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.76sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1794425741.06317306 seconds ×3 + 1.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.30sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.34sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1794425741.64485312 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.34sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.34sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.25sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1794425742.55501580 seconds ×3 + 2.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.81sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.85sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1794425743.15414762 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.91sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1794425743.21432042 seconds ×3 + 3.44sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.51sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.56sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1794425743.86065555 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.58sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1794425743.88081050 seconds ×3 + 4.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.11sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.15sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1794425744.45488238 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.30sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1794425744.60535216 seconds ×3 + 4.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.93sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.97sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1794425745.27287245 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.98sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.98sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.99sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.99sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.99sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.104188 ms (missed cycles : 2). + 5.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.104188 ms (missed cycles : 2).[0m ×2 + 5.02sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1794425745.32304239 seconds ×3 + 5.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.65sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 5.73sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1794425746.03538156 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.74sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 5.74sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.74sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.74sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.74sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.75sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.75sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.75sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.75sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.82sINFOobjective_server_nodeFound path in 0 iterations (1.5841e-05 s). ×2 + 5.83sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 5.84sINFOros2_control_node[2026-11-11 19:35:46.141] [info] Received new action goal ×2 + 5.84sINFOros2_control_node[2026-11-11 19:35:46.141] [info] Accepted new action goal ×2 | ||||
| ✓ passed | Take Scene Camera Snapshot | take_snap.xml | 1.3s | 3 errors · 17 warnings · 213 info |
+ 0.00sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.00sINFOros2_control_node[2026-11-11 19:40:53.468] [info] Got request to cancel active goal. ×2 + 0.00sINFOros2_control_node[2026-11-11 19:40:53.468] [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: 1794426053.47299886 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 + 0.59sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1794426054.05368376 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.105547 ms (missed cycles : 2). + 0.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.105547 ms (missed cycles : 2).[0m ×2 + 1.34sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1794426054.80387449 seconds ×3 + 1.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.331928 ms (missed cycles : 3). + 1.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.331928 ms (missed cycles : 3).[0m ×2 + 1.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.88sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 1.93sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1794426055.39059782 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.93sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 1.93sINFOobjective_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 + 1.93sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 1.93sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1794426055.39269638 seconds ×3 + 2.46sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.46sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 2.51sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1794426055.97002625 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.54sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1794426056.00082445 seconds ×3 + 3.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.07sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 3.12sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1794426056.58547878 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.805690 ms (missed cycles : 4). + 3.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.805690 ms (missed cycles : 4).[0m ×2 + 4.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.004294 ms (missed cycles : 2). + 4.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.004294 ms (missed cycles : 2).[0m ×2 + 5.06sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: wrist_camera (1.04 s). The render path has stopped producing new frames for them.[0m ×2 + 5.28sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1794426058.74564576 seconds ×3 | ||||
| ✓ passed | Reset MuJoCo Robot | reset_mujoco_robot.xml | 0.8s | 3 warnings · 193 info |
+ 0.00sINFOobjective_server_nodeObjective `Record Surface Coverage Demo` succeeded at time: 1794426041.02230239 seconds ×3 + 0.10sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.10sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.10sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 0.10sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.10sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 0.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.11sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.11sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.63sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.63sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 0.63sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 0.63sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 0.63sINFOobjective_server_nodeparameter_overrides: [] ×6 + 0.63sINFOobjective_server_nodecaller: ×6 + 0.63sINFOobjective_server_nodetype: 0 ×6 + 0.63sINFOobjective_server_nodename: "" ×6 + 0.63sINFOobjective_server_nodeinstance_id: "" ×6 + 0.63sINFOobjective_server_node ×6 + 0.83sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1794426041.85117364 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.86sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 0.86sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 0.88sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 0.88sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 0.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.845924 ms (missed cycles : 2). + 0.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.845924 ms (missed cycles : 2).[0m ×2 + 0.90sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1794426041.92140436 seconds ×3 + 1.44sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.44sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 1.48sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1794426042.50277996 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.50sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 1.50sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1794426042.52414560 seconds ×3 + 2.09sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.09sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 2.16sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1794426043.17847824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.17sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 2.24sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). ×2 + 2.24sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 2.25sINFOros2_control_node[2026-11-11 19:40:43.272] [info] Received new action goal ×2 + 2.25sINFOros2_control_node[2026-11-11 19:40:43.272] [info] Accepted new action goal ×2 + 2.72sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 | ||||
| ✓ passed | Add Table to Planning Scene | add_table_to_planning_scene.xml | 0.7s | 3 errors · 15 warnings · 146 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.102748 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.102748 ms (missed cycles : 3).[0m ×2 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.457034 ms (missed cycles : 4). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.457034 ms (missed cycles : 4).[0m ×2 + 1.54sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 1.54sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×4 + 1.54sINFOobjective_server_nodeFound detection with id: 2, label: %s ×3 + 1.81sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×4 + 1.82sINFOobjective_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 + 1.82sINFOobjective_server_nodePath shortcutter: [X___________X] ×2 + 1.83sERRORobjective_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: 1794425767.48358154 seconds ×3 + 1.84sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.84sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.84sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.84sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.84sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.84sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.85sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.85sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.85sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.85sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.86sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.86sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.781324 ms (missed cycles : 3). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.781324 ms (missed cycles : 3).[0m ×2 + 2.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.38sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.38sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.38sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.38sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.38sINFOobjective_server_nodecaller: ×4 + 2.38sINFOobjective_server_nodetype: 0 ×4 + 2.38sINFOobjective_server_nodename: "" ×4 + 2.38sINFOobjective_server_nodeinstance_id: "" ×4 + 2.38sINFOobjective_server_node ×4 + 2.45sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1794425768.10229564 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.57sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1794425768.22245932 seconds ×3 + 3.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.18sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.22sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1794425768.87328577 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.23sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.23sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.32sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.39sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×2 + 3.39sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.40sINFOros2_control_node[2026-11-11 19:36:09.046] [info] Received new action goal ×2 + 3.40sINFOros2_control_node[2026-11-11 19:36:09.046] [info] Accepted new action goal ×2 + 5.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.532479 ms (missed cycles : 4). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.532479 ms (missed cycles : 4).[0m ×2 + 6.44sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 6.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.977760 ms (missed cycles : 5). + 6.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.977760 ms (missed cycles : 5).[0m ×2 + 6.71sINFOobjective_server_nodeFound path in 0 iterations (2.3e-07 s). ×2 + 6.71sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 6.72sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 6.72sINFOobjective_server_nodePath shortcutter: [X_______________X] ×2 + 6.78sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 6.80sINFOobjective_server_nodeFound path in 1 iterations (0.00301673 s). ×2 + 6.89sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________________X__________________X] ×2 | ||||
| ✓ passed | Clear Previous Obstacles | clear_previous_obstacles.xml | 0.7s | 132 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[2026-11-11 19:36:16.576] [info] Received new action goal ×2 + 0.37sINFOros2_control_node[2026-11-11 19:36:16.576] [info] Accepted new action goal ×2 + 1.67sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1794425777.87348866 seconds ×3 + 1.67sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.67sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.67sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.67sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.67sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.67sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.68sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.68sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.68sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.68sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.68sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.20sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.20sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.20sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.20sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.20sINFOobjective_server_nodecaller: ×4 + 2.20sINFOobjective_server_nodetype: 0 ×4 + 2.20sINFOobjective_server_nodename: "" ×4 + 2.20sINFOobjective_server_nodeinstance_id: "" ×4 + 2.20sINFOobjective_server_node ×4 + 2.27sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1794425778.48020768 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.34sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1794425778.55036306 seconds ×3 + 2.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.93sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 2.98sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1794425779.18830490 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.99sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.07sINFOobjective_server_nodeFound path in 0 iterations (2.2e-07 s). ×2 + 3.07sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.09sINFOros2_control_node[2026-11-11 19:36:19.292] [info] Received new action goal ×2 + 3.09sINFOros2_control_node[2026-11-11 19:36:19.292] [info] Accepted new action goal ×2 + 6.40sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). ×2 + 6.41sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 6.42sINFOros2_control_node[2026-11-11 19:36:22.621] [info] Received new action goal ×2 + 6.42sINFOros2_control_node[2026-11-11 19:36:22.621] [info] Accepted new action goal ×2 | ||||
| ✓ passed | Load MuJoCo Robot State | load_mujoco_robot_state.xml | 0.7s | 3 warnings · 163 info |
+ 0.00sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1794425843.12243772 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 + 0.02sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load 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 + 0.58sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1794425843.70443964 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.63sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 0.63sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 0.64sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 0.64sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 0.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.705337 ms (missed cycles : 2). + 0.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.705337 ms (missed cycles : 2).[0m ×2 + 0.65sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1794425843.77457833 seconds ×3 + 1.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.38sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 1.43sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1794425844.55091739 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.44sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 1.51sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 1.51sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.52sINFOros2_control_node[2026-11-11 19:37:24.645] [info] Received new action goal ×2 + 1.52sINFOros2_control_node[2026-11-11 19:37:24.645] [info] Accepted new action goal ×2 + 3.53sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1794425846.65107751 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 + 0.06sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.10sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.10sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.10sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.10sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.10sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.10sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.10sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 0.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.13sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.13sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.13sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.13sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.71sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.71sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.71sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.71sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.71sINFOobjective_server_nodecaller: ×14 + 0.71sINFOobjective_server_nodetype: 0 ×14 + 0.71sINFOobjective_server_nodename: "" ×14 + 0.71sINFOobjective_server_nodeinstance_id: "" ×14 + 0.71sINFOobjective_server_node ×14 + 0.75sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1794425741.05292511 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.76sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1794425741.06317306 seconds ×3 + 1.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.30sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.34sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1794425741.64485312 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.34sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.34sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.25sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1794425742.55501580 seconds ×3 + 2.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.81sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.85sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1794425743.15414762 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.91sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1794425743.21432042 seconds ×3 + 3.44sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.51sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.56sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1794425743.86065555 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.58sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1794425743.88081050 seconds ×3 + 4.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.11sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.15sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1794425744.45488238 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.30sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1794425744.60535216 seconds ×3 + 4.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.93sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.97sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1794425745.27287245 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.98sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.98sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.99sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.99sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.99sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.104188 ms (missed cycles : 2). + 5.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.104188 ms (missed cycles : 2).[0m ×2 + 5.02sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1794425745.32304239 seconds ×3 + 5.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.65sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 5.73sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1794425746.03538156 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.74sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 5.74sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.74sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.74sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.74sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.75sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.75sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.75sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.75sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.82sINFOobjective_server_nodeFound path in 0 iterations (1.5841e-05 s). ×2 + 5.83sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 5.84sINFOros2_control_node[2026-11-11 19:35:46.141] [info] Received new action goal ×2 + 5.84sINFOros2_control_node[2026-11-11 19:35:46.141] [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[2026-11-11 19:40:53.468] [info] Got request to cancel active goal. ×2 + 0.00sINFOros2_control_node[2026-11-11 19:40:53.468] [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: 1794426053.47299886 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 + 0.59sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1794426054.05368376 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.105547 ms (missed cycles : 2). + 0.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.105547 ms (missed cycles : 2).[0m ×2 + 1.34sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1794426054.80387449 seconds ×3 + 1.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.331928 ms (missed cycles : 3). + 1.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.331928 ms (missed cycles : 3).[0m ×2 + 1.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.88sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 1.93sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1794426055.39059782 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.93sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 1.93sINFOobjective_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 + 1.93sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 1.93sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1794426055.39269638 seconds ×3 + 2.46sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.46sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 2.51sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1794426055.97002625 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.54sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1794426056.00082445 seconds ×3 + 3.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.07sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 3.12sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1794426056.58547878 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.805690 ms (missed cycles : 4). + 3.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.805690 ms (missed cycles : 4).[0m ×2 + 4.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.004294 ms (missed cycles : 2). + 4.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.004294 ms (missed cycles : 2).[0m ×2 + 5.06sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: wrist_camera (1.04 s). The render path has stopped producing new frames for them.[0m ×2 + 5.28sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1794426058.74564576 seconds ×3 + 5.32sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.314182 ms (missed cycles : 2). + 6.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.314182 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Save Robot Joint State | save_robot_joint_state.xml | 0.6s | 3 warnings · 193 info |
+ 0.00sINFOobjective_server_nodeObjective `Record Surface Coverage Demo` succeeded at time: 1794426041.02230239 seconds ×3 + 0.10sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.10sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.10sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 0.10sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.10sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 0.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.11sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.11sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.63sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.63sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 0.63sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 0.63sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 0.63sINFOobjective_server_nodeparameter_overrides: [] ×6 + 0.63sINFOobjective_server_nodecaller: ×6 + 0.63sINFOobjective_server_nodetype: 0 ×6 + 0.63sINFOobjective_server_nodename: "" ×6 + 0.63sINFOobjective_server_nodeinstance_id: "" ×6 + 0.63sINFOobjective_server_node ×6 + 0.83sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1794426041.85117364 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.86sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 0.86sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 0.88sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 0.88sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 0.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.845924 ms (missed cycles : 2). + 0.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.845924 ms (missed cycles : 2).[0m ×2 + 0.90sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1794426041.92140436 seconds ×3 + 1.44sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.44sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 1.48sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1794426042.50277996 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.50sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 1.50sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1794426042.52414560 seconds ×3 + 2.09sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.09sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 2.16sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1794426043.17847824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.17sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 2.24sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). ×2 + 2.24sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 2.25sINFOros2_control_node[2026-11-11 19:40:43.272] [info] Received new action goal ×2 + 2.25sINFOros2_control_node[2026-11-11 19:40:43.272] [info] Accepted new action goal ×2 + 2.72sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 | ||||
| ✓ passed | Vector and String Example | vector_and_string_example.xml | 0.6s | 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[2026-11-11 19:40:53.468] [info] Got request to cancel active goal. ×2 + 0.00sINFOros2_control_node[2026-11-11 19:40:53.468] [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: 1794426053.47299886 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 + 0.59sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1794426054.05368376 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.105547 ms (missed cycles : 2). + 0.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.105547 ms (missed cycles : 2).[0m ×2 + 1.34sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1794426054.80387449 seconds ×3 + 1.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.331928 ms (missed cycles : 3). + 1.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.331928 ms (missed cycles : 3).[0m ×2 + 1.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.88sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 1.93sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1794426055.39059782 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.93sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 1.93sINFOobjective_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 + 1.93sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 1.93sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1794426055.39269638 seconds ×3 + 2.46sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.46sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 2.51sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1794426055.97002625 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.54sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1794426056.00082445 seconds ×3 + 3.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.07sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 3.12sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1794426056.58547878 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.805690 ms (missed cycles : 4). + 3.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.805690 ms (missed cycles : 4).[0m ×2 + 4.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.004294 ms (missed cycles : 2). + 4.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.004294 ms (missed cycles : 2).[0m ×2 + 5.06sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: wrist_camera (1.04 s). The render path has stopped producing new frames for them.[0m ×2 + 5.28sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1794426058.74564576 seconds ×3 + 5.32sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.314182 ms (missed cycles : 2). | ||||
| − skipped | Register CAD Part Subtree | register_cad_part_subtree.xml | 0.1s | 3 warnings · 193 info |
+ 0.00sINFOobjective_server_nodeObjective `Record Surface Coverage Demo` succeeded at time: 1794426041.02230239 seconds ×3 + 0.10sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.10sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.10sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 0.10sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.10sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 0.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.11sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.11sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.63sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.63sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 0.63sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 0.63sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 0.63sINFOobjective_server_nodeparameter_overrides: [] ×6 + 0.63sINFOobjective_server_nodecaller: ×6 + 0.63sINFOobjective_server_nodetype: 0 ×6 + 0.63sINFOobjective_server_nodename: "" ×6 + 0.63sINFOobjective_server_nodeinstance_id: "" ×6 + 0.63sINFOobjective_server_node ×6 + 0.83sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1794426041.85117364 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.86sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 0.86sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 0.88sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 0.88sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 0.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.845924 ms (missed cycles : 2). + 0.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.845924 ms (missed cycles : 2).[0m ×2 + 0.90sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1794426041.92140436 seconds ×3 + 1.44sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.44sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 1.48sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1794426042.50277996 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.50sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 1.50sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1794426042.52414560 seconds ×3 + 2.09sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.09sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 2.16sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1794426043.17847824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.17sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 2.24sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). ×2 + 2.24sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 2.25sINFOros2_control_node[2026-11-11 19:40:43.272] [info] Received new action goal ×2 + 2.25sINFOros2_control_node[2026-11-11 19:40:43.272] [info] Accepted new action goal ×2 + 2.72sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 | ||||
| − skipped | Get Collision Free Grasp Subtree | get_collision_free_grasp_subtree.xml | 0.0s | 3 errors · 6 warnings · 115 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.07sINFOobjective_server_nodeFound path in 0 iterations (5.5e-07 s). ×2 + 0.07sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.08sINFOros2_control_node[2026-11-11 19:36:27.269] [info] Received new action goal ×2 + 0.08sINFOros2_control_node[2026-11-11 19:36:27.269] [info] Accepted new action goal ×2 + 2.27sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.28sINFOros2_control_node[2026-11-11 19:36:29.468] [info] Got request to cancel active goal. ×2 + 2.28sINFOros2_control_node[2026-11-11 19:36:29.468] [info] Canceling active goal... ×2 + 2.28sERRORobjective_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: 1794425789.47030973 seconds ×3 + 2.32sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.32sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.32sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.32sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.32sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.32sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.32sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.32sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.85sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.85sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.85sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.85sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.85sINFOobjective_server_nodecaller: ×2 + 2.85sINFOobjective_server_nodetype: 0 ×2 + 2.85sINFOobjective_server_nodename: "" ×2 + 2.85sINFOobjective_server_nodeinstance_id: "" ×2 + 2.85sINFOobjective_server_node ×2 + 2.90sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1794425790.09298325 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.91sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.91sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.07sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 3.07sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.08sINFOros2_control_node[2026-11-11 19:36:30.267] [info] Received new action goal ×2 + 3.08sINFOros2_control_node[2026-11-11 19:36:30.267] [info] Accepted new action goal ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.279454 ms (missed cycles : 3). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.279454 ms (missed cycles : 3).[0m ×2 + 5.89sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 5.89sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 5.89sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 6.16sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 6.16sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 6.16sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). ×2 + 6.16sINFOobjective_server_nodePath shortcutter: [X_______________X] ×2 + 6.17sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×4 + 6.19sINFOobjective_server_nodePath shortcutter: [X_________________________________X] ×2 + 6.20sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×2 + 6.25sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 6.27sINFOobjective_server_nodeFound path in 5 iterations (0.00396278 s). ×2 + 6.32sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________X_X_______________________X] ×2 + 6.34sINFOobjective_server_nodeFound path in 0 iterations (2e-07 s). ×2 + 6.40sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X] ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.747661 ms (missed cycles : 5). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.747661 ms (missed cycles : 5).[0m ×2 + 6.41sINFOobjective_server_nodeFound path in 0 iterations (2.1e-07 s). ×2 + 6.50sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X] ×2 | ||||
| − skipped | Pick object | pick_object.xml | 0.0s | 64 info |
+ 0.00sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1794425963.84127665 seconds ×3 + 1.66sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 1.66sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 1.66sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 1.66sINFOcontroller_managerSuccessfully switched controllers! ×2 + 1.66sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 1.66sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 1.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 1.67sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 1.67sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 1.67sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 1.67sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 1.67sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.19sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.19sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 2.19sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.19sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.19sINFOobjective_server_nodecaller: ×2 + 2.19sINFOobjective_server_nodetype: 0 ×2 + 2.19sINFOobjective_server_nodename: "" ×2 + 2.19sINFOobjective_server_nodeinstance_id: "" ×2 + 2.19sINFOobjective_server_node ×2 + 2.27sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1794425966.11365533 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.34sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 2.42sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 2.42sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 2.43sINFOros2_control_node[2026-11-11 19:39:26.267] [info] Received new action goal ×2 + 2.43sINFOros2_control_node[2026-11-11 19:39:26.267] [info] Accepted new action goal ×2 + 4.34sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − skipped | Add Point Cloud to Vector | add_point_cloud_to_vector.xml | 0.0s | 3 errors · 12 warnings · 124 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.102748 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.102748 ms (missed cycles : 3).[0m ×2 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.457034 ms (missed cycles : 4). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.457034 ms (missed cycles : 4).[0m ×2 + 1.54sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 1.54sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 1.54sINFOobjective_server_nodeFound detection with id: 2, label: %s ×3 + 1.81sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×2 + 1.82sINFOobjective_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 + 1.82sINFOobjective_server_nodePath shortcutter: [X___________X] ×2 + 1.83sERRORobjective_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: 1794425767.48358154 seconds ×3 + 1.84sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.84sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.84sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.84sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.84sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.84sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.85sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.85sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.85sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.85sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.86sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.86sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.781324 ms (missed cycles : 3). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.781324 ms (missed cycles : 3).[0m ×2 + 2.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.38sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.38sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.38sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.38sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.38sINFOobjective_server_nodecaller: ×4 + 2.38sINFOobjective_server_nodetype: 0 ×4 + 2.38sINFOobjective_server_nodename: "" ×4 + 2.38sINFOobjective_server_nodeinstance_id: "" ×4 + 2.38sINFOobjective_server_node ×4 + 2.45sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1794425768.10229564 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.57sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1794425768.22245932 seconds ×3 + 3.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.18sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.22sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1794425768.87328577 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.23sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.23sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.32sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.39sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×2 + 3.39sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.40sINFOros2_control_node[2026-11-11 19:36:09.046] [info] Received new action goal ×2 + 3.40sINFOros2_control_node[2026-11-11 19:36:09.046] [info] Accepted new action goal ×2 + 5.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.532479 ms (missed cycles : 4). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.532479 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Add Poses to MTC Task | add_poses_to_mtc_task.xml | 0.0s | 3 errors · 12 warnings · 124 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.102748 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.102748 ms (missed cycles : 3).[0m ×2 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.457034 ms (missed cycles : 4). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.457034 ms (missed cycles : 4).[0m ×2 + 1.54sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 1.54sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 1.54sINFOobjective_server_nodeFound detection with id: 2, label: %s ×3 + 1.81sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×2 + 1.82sINFOobjective_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 + 1.82sINFOobjective_server_nodePath shortcutter: [X___________X] ×2 + 1.83sERRORobjective_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: 1794425767.48358154 seconds ×3 + 1.84sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.84sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.84sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.84sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.84sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.84sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.85sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.85sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.85sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.85sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.86sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.86sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.781324 ms (missed cycles : 3). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.781324 ms (missed cycles : 3).[0m ×2 + 2.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.38sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.38sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.38sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.38sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.38sINFOobjective_server_nodecaller: ×4 + 2.38sINFOobjective_server_nodetype: 0 ×4 + 2.38sINFOobjective_server_nodename: "" ×4 + 2.38sINFOobjective_server_nodeinstance_id: "" ×4 + 2.38sINFOobjective_server_node ×4 + 2.45sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1794425768.10229564 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.57sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1794425768.22245932 seconds ×3 + 3.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.18sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.22sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1794425768.87328577 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.23sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.23sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.32sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.39sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×2 + 3.39sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.40sINFOros2_control_node[2026-11-11 19:36:09.046] [info] Received new action goal ×2 + 3.40sINFOros2_control_node[2026-11-11 19:36:09.046] [info] Accepted new action goal ×2 + 5.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.532479 ms (missed cycles : 4). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.532479 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Add Waypoints to MTC Task | add_waypoints_to_mtc_task.xml | 0.0s | 3 errors · 15 warnings · 146 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.102748 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.102748 ms (missed cycles : 3).[0m ×2 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.457034 ms (missed cycles : 4). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.457034 ms (missed cycles : 4).[0m ×2 + 1.54sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 1.54sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×4 + 1.54sINFOobjective_server_nodeFound detection with id: 2, label: %s ×3 + 1.81sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×4 + 1.82sINFOobjective_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 + 1.82sINFOobjective_server_nodePath shortcutter: [X___________X] ×2 + 1.83sERRORobjective_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: 1794425767.48358154 seconds ×3 + 1.84sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.84sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.84sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.84sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.84sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.84sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.85sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.85sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.85sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.85sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.86sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.86sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.781324 ms (missed cycles : 3). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.781324 ms (missed cycles : 3).[0m ×2 + 2.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.38sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.38sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.38sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.38sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.38sINFOobjective_server_nodecaller: ×4 + 2.38sINFOobjective_server_nodetype: 0 ×4 + 2.38sINFOobjective_server_nodename: "" ×4 + 2.38sINFOobjective_server_nodeinstance_id: "" ×4 + 2.38sINFOobjective_server_node ×4 + 2.45sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1794425768.10229564 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.57sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1794425768.22245932 seconds ×3 + 3.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.18sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.22sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1794425768.87328577 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.23sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.23sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.32sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.39sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×2 + 3.39sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.40sINFOros2_control_node[2026-11-11 19:36:09.046] [info] Received new action goal ×2 + 3.40sINFOros2_control_node[2026-11-11 19:36:09.046] [info] Accepted new action goal ×2 + 5.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.532479 ms (missed cycles : 4). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.532479 ms (missed cycles : 4).[0m ×2 + 6.44sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 6.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.977760 ms (missed cycles : 5). + 6.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.977760 ms (missed cycles : 5).[0m ×2 + 6.71sINFOobjective_server_nodeFound path in 0 iterations (2.3e-07 s). ×2 + 6.71sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 6.72sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 6.72sINFOobjective_server_nodePath shortcutter: [X_______________X] ×2 + 6.78sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 6.80sINFOobjective_server_nodeFound path in 1 iterations (0.00301673 s). ×2 + 6.89sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________________X__________________X] ×2 | ||||
| − skipped | AddBottlesToPlanningScene | addbottlestoplanningscene.xml | 0.0s | 3 errors · 15 warnings · 146 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.102748 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.102748 ms (missed cycles : 3).[0m ×2 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.457034 ms (missed cycles : 4). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.457034 ms (missed cycles : 4).[0m ×2 + 1.54sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 1.54sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×4 + 1.54sINFOobjective_server_nodeFound detection with id: 2, label: %s ×3 + 1.81sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×4 + 1.82sINFOobjective_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 + 1.82sINFOobjective_server_nodePath shortcutter: [X___________X] ×2 + 1.83sERRORobjective_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: 1794425767.48358154 seconds ×3 + 1.84sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.84sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.84sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.84sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.84sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.84sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.85sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.85sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.85sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.85sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.86sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.86sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.781324 ms (missed cycles : 3). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.781324 ms (missed cycles : 3).[0m ×2 + 2.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.38sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.38sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.38sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.38sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.38sINFOobjective_server_nodecaller: ×4 + 2.38sINFOobjective_server_nodetype: 0 ×4 + 2.38sINFOobjective_server_nodename: "" ×4 + 2.38sINFOobjective_server_nodeinstance_id: "" ×4 + 2.38sINFOobjective_server_node ×4 + 2.45sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1794425768.10229564 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.57sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1794425768.22245932 seconds ×3 + 3.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.18sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.22sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1794425768.87328577 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.23sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.23sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.32sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.39sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×2 + 3.39sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.40sINFOros2_control_node[2026-11-11 19:36:09.046] [info] Received new action goal ×2 + 3.40sINFOros2_control_node[2026-11-11 19:36:09.046] [info] Accepted new action goal ×2 + 5.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.532479 ms (missed cycles : 4). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.532479 ms (missed cycles : 4).[0m ×2 + 6.44sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 6.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.977760 ms (missed cycles : 5). + 6.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.977760 ms (missed cycles : 5).[0m ×2 + 6.71sINFOobjective_server_nodeFound path in 0 iterations (2.3e-07 s). ×2 + 6.71sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 6.72sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 6.72sINFOobjective_server_nodePath shortcutter: [X_______________X] ×2 + 6.78sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 6.80sINFOobjective_server_nodeFound path in 1 iterations (0.00301673 s). ×2 + 6.89sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________________X__________________X] ×2 | ||||
| − skipped | AddCollisionBoxInFrontOfEndEffector | addcollisionboxinfrontofendeffector.xml | 0.0s | 3 errors · 15 warnings · 146 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.102748 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.102748 ms (missed cycles : 3).[0m ×2 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.457034 ms (missed cycles : 4). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.457034 ms (missed cycles : 4).[0m ×2 + 1.54sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 1.54sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×4 + 1.54sINFOobjective_server_nodeFound detection with id: 2, label: %s ×3 + 1.81sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×4 + 1.82sINFOobjective_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 + 1.82sINFOobjective_server_nodePath shortcutter: [X___________X] ×2 + 1.83sERRORobjective_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: 1794425767.48358154 seconds ×3 + 1.84sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.84sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.84sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.84sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.84sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.84sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.85sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.85sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.85sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.85sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.86sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.86sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.781324 ms (missed cycles : 3). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.781324 ms (missed cycles : 3).[0m ×2 + 2.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.38sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.38sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.38sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.38sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.38sINFOobjective_server_nodecaller: ×4 + 2.38sINFOobjective_server_nodetype: 0 ×4 + 2.38sINFOobjective_server_nodename: "" ×4 + 2.38sINFOobjective_server_nodeinstance_id: "" ×4 + 2.38sINFOobjective_server_node ×4 + 2.45sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1794425768.10229564 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.57sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1794425768.22245932 seconds ×3 + 3.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.18sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.22sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1794425768.87328577 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.23sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.23sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.32sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.39sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×2 + 3.39sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.40sINFOros2_control_node[2026-11-11 19:36:09.046] [info] Received new action goal ×2 + 3.40sINFOros2_control_node[2026-11-11 19:36:09.046] [info] Accepted new action goal ×2 + 5.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.532479 ms (missed cycles : 4). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.532479 ms (missed cycles : 4).[0m ×2 + 6.44sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 6.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.977760 ms (missed cycles : 5). + 6.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.977760 ms (missed cycles : 5).[0m ×2 + 6.71sINFOobjective_server_nodeFound path in 0 iterations (2.3e-07 s). ×2 + 6.71sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 6.72sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 6.72sINFOobjective_server_nodePath shortcutter: [X_______________X] ×2 + 6.78sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 6.80sINFOobjective_server_nodeFound path in 1 iterations (0.00301673 s). ×2 + 6.89sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________________X__________________X] ×2 | ||||
| − skipped | AddCollisionObjectToPlanningScene | addcollisionobjecttoplanningscene.xml | 0.0s | 3 errors · 15 warnings · 146 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.102748 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.102748 ms (missed cycles : 3).[0m ×2 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.457034 ms (missed cycles : 4). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.457034 ms (missed cycles : 4).[0m ×2 + 1.54sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 1.54sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×4 + 1.54sINFOobjective_server_nodeFound detection with id: 2, label: %s ×3 + 1.81sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×4 + 1.82sINFOobjective_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 + 1.82sINFOobjective_server_nodePath shortcutter: [X___________X] ×2 + 1.83sERRORobjective_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: 1794425767.48358154 seconds ×3 + 1.84sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.84sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.84sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.84sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.84sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.84sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.85sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.85sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.85sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.85sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.86sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.86sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.781324 ms (missed cycles : 3). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.781324 ms (missed cycles : 3).[0m ×2 + 2.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.38sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.38sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.38sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.38sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.38sINFOobjective_server_nodecaller: ×4 + 2.38sINFOobjective_server_nodetype: 0 ×4 + 2.38sINFOobjective_server_nodename: "" ×4 + 2.38sINFOobjective_server_nodeinstance_id: "" ×4 + 2.38sINFOobjective_server_node ×4 + 2.45sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1794425768.10229564 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.57sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1794425768.22245932 seconds ×3 + 3.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.18sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.22sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1794425768.87328577 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.23sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.23sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.32sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.39sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×2 + 3.39sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.40sINFOros2_control_node[2026-11-11 19:36:09.046] [info] Received new action goal ×2 + 3.40sINFOros2_control_node[2026-11-11 19:36:09.046] [info] Accepted new action goal ×2 + 5.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.532479 ms (missed cycles : 4). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.532479 ms (missed cycles : 4).[0m ×2 + 6.44sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 6.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.977760 ms (missed cycles : 5). + 6.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.977760 ms (missed cycles : 5).[0m ×2 + 6.71sINFOobjective_server_nodeFound path in 0 iterations (2.3e-07 s). ×2 + 6.71sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 6.72sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 6.72sINFOobjective_server_nodePath shortcutter: [X_______________X] ×2 + 6.78sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 6.80sINFOobjective_server_nodeFound path in 1 iterations (0.00301673 s). ×2 + 6.89sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________________X__________________X] ×2 | ||||
| − skipped | Collect Training Data with Behaviors | collect_training_data_with_behaviors.xml | 0.0s | 132 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[2026-11-11 19:36:16.576] [info] Received new action goal ×2 + 0.37sINFOros2_control_node[2026-11-11 19:36:16.576] [info] Accepted new action goal ×2 + 1.67sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1794425777.87348866 seconds ×3 + 1.67sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.67sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.67sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.67sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.67sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.67sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.68sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.68sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.68sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.68sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.68sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.20sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.20sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.20sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.20sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.20sINFOobjective_server_nodecaller: ×4 + 2.20sINFOobjective_server_nodetype: 0 ×4 + 2.20sINFOobjective_server_nodename: "" ×4 + 2.20sINFOobjective_server_nodeinstance_id: "" ×4 + 2.20sINFOobjective_server_node ×4 + 2.27sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1794425778.48020768 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.34sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1794425778.55036306 seconds ×3 + 2.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.93sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 2.98sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1794425779.18830490 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.99sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.07sINFOobjective_server_nodeFound path in 0 iterations (2.2e-07 s). ×2 + 3.07sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.09sINFOros2_control_node[2026-11-11 19:36:19.292] [info] Received new action goal ×2 + 3.09sINFOros2_control_node[2026-11-11 19:36:19.292] [info] Accepted new action goal ×2 + 6.40sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). ×2 + 6.41sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 6.42sINFOros2_control_node[2026-11-11 19:36:22.621] [info] Received new action goal ×2 + 6.42sINFOros2_control_node[2026-11-11 19:36:22.621] [info] Accepted new action goal ×2 | ||||
| − skipped | ComputeLinkPoseFromWaypoint | computelinkposefromwaypoint.xml | 0.0s | 132 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[2026-11-11 19:36:16.576] [info] Received new action goal ×2 + 0.37sINFOros2_control_node[2026-11-11 19:36:16.576] [info] Accepted new action goal ×2 + 1.67sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1794425777.87348866 seconds ×3 + 1.67sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.67sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.67sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.67sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.67sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.67sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.68sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.68sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.68sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.68sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.68sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.20sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.20sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.20sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.20sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.20sINFOobjective_server_nodecaller: ×4 + 2.20sINFOobjective_server_nodetype: 0 ×4 + 2.20sINFOobjective_server_nodename: "" ×4 + 2.20sINFOobjective_server_nodeinstance_id: "" ×4 + 2.20sINFOobjective_server_node ×4 + 2.27sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1794425778.48020768 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.34sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1794425778.55036306 seconds ×3 + 2.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.93sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 2.98sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1794425779.18830490 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.99sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.07sINFOobjective_server_nodeFound path in 0 iterations (2.2e-07 s). ×2 + 3.07sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.09sINFOros2_control_node[2026-11-11 19:36:19.292] [info] Received new action goal ×2 + 3.09sINFOros2_control_node[2026-11-11 19:36:19.292] [info] Accepted new action goal ×2 + 6.40sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). ×2 + 6.41sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 6.42sINFOros2_control_node[2026-11-11 19:36:22.621] [info] Received new action goal ×2 + 6.42sINFOros2_control_node[2026-11-11 19:36:22.621] [info] Accepted new action goal ×2 | ||||
| − skipped | Constrained Pick and Place Subtree | constrained_pick_and_place_subtree.xml | 0.0s | 132 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[2026-11-11 19:36:16.576] [info] Received new action goal ×2 + 0.37sINFOros2_control_node[2026-11-11 19:36:16.576] [info] Accepted new action goal ×2 + 1.67sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1794425777.87348866 seconds ×3 + 1.67sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.67sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.67sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.67sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.67sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.67sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.68sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.68sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.68sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.68sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.68sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.20sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.20sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.20sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.20sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.20sINFOobjective_server_nodecaller: ×4 + 2.20sINFOobjective_server_nodetype: 0 ×4 + 2.20sINFOobjective_server_nodename: "" ×4 + 2.20sINFOobjective_server_nodeinstance_id: "" ×4 + 2.20sINFOobjective_server_node ×4 + 2.27sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1794425778.48020768 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.34sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1794425778.55036306 seconds ×3 + 2.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.93sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 2.98sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1794425779.18830490 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.99sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.07sINFOobjective_server_nodeFound path in 0 iterations (2.2e-07 s). ×2 + 3.07sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.09sINFOros2_control_node[2026-11-11 19:36:19.292] [info] Received new action goal ×2 + 3.09sINFOros2_control_node[2026-11-11 19:36:19.292] [info] Accepted new action goal ×2 + 6.40sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). ×2 + 6.41sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 6.42sINFOros2_control_node[2026-11-11 19:36:22.621] [info] Received new action goal ×2 + 6.42sINFOros2_control_node[2026-11-11 19:36:22.621] [info] Accepted new action goal ×2 | ||||
| − skipped | Create PCL Poses Vector | create_pcl_poses_vector.xml | 0.0s | 132 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[2026-11-11 19:36:16.576] [info] Received new action goal ×2 + 0.37sINFOros2_control_node[2026-11-11 19:36:16.576] [info] Accepted new action goal ×2 + 1.67sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1794425777.87348866 seconds ×3 + 1.67sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.67sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.67sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.67sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.67sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.67sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.68sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.68sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.68sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.68sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.68sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.20sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.20sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.20sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.20sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.20sINFOobjective_server_nodecaller: ×4 + 2.20sINFOobjective_server_nodetype: 0 ×4 + 2.20sINFOobjective_server_nodename: "" ×4 + 2.20sINFOobjective_server_nodeinstance_id: "" ×4 + 2.20sINFOobjective_server_node ×4 + 2.27sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1794425778.48020768 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.34sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1794425778.55036306 seconds ×3 + 2.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.93sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 2.98sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1794425779.18830490 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.99sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.07sINFOobjective_server_nodeFound path in 0 iterations (2.2e-07 s). ×2 + 3.07sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.09sINFOros2_control_node[2026-11-11 19:36:19.292] [info] Received new action goal ×2 + 3.09sINFOros2_control_node[2026-11-11 19:36:19.292] [info] Accepted new action goal ×2 + 6.40sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). ×2 + 6.41sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 6.42sINFOros2_control_node[2026-11-11 19:36:22.621] [info] Received new action goal ×2 + 6.42sINFOros2_control_node[2026-11-11 19:36:22.621] [info] Accepted new action goal ×2 | ||||
| − skipped | Create Pose Vector | create_pose_vector.xml | 0.0s | 132 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[2026-11-11 19:36:16.576] [info] Received new action goal ×2 + 0.37sINFOros2_control_node[2026-11-11 19:36:16.576] [info] Accepted new action goal ×2 + 1.67sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1794425777.87348866 seconds ×3 + 1.67sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.67sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.67sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.67sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.67sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.67sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.68sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.68sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.68sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.68sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.68sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.20sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.20sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.20sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.20sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.20sINFOobjective_server_nodecaller: ×4 + 2.20sINFOobjective_server_nodetype: 0 ×4 + 2.20sINFOobjective_server_nodename: "" ×4 + 2.20sINFOobjective_server_nodeinstance_id: "" ×4 + 2.20sINFOobjective_server_node ×4 + 2.27sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1794425778.48020768 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.34sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1794425778.55036306 seconds ×3 + 2.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.93sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 2.98sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1794425779.18830490 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.99sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.07sINFOobjective_server_nodeFound path in 0 iterations (2.2e-07 s). ×2 + 3.07sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.09sINFOros2_control_node[2026-11-11 19:36:19.292] [info] Received new action goal ×2 + 3.09sINFOros2_control_node[2026-11-11 19:36:19.292] [info] Accepted new action goal ×2 + 6.40sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). ×2 + 6.41sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 6.42sINFOros2_control_node[2026-11-11 19:36:22.621] [info] Received new action goal ×2 + 6.42sINFOros2_control_node[2026-11-11 19:36:22.621] [info] Accepted new action goal ×2 | ||||
| − skipped | Detect AprilTags on Table | detect_apriltags_on_table.xml | 0.0s | 3 errors · 6 warnings · 115 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.07sINFOobjective_server_nodeFound path in 0 iterations (5.5e-07 s). ×2 + 0.07sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.08sINFOros2_control_node[2026-11-11 19:36:27.269] [info] Received new action goal ×2 + 0.08sINFOros2_control_node[2026-11-11 19:36:27.269] [info] Accepted new action goal ×2 + 2.27sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.28sINFOros2_control_node[2026-11-11 19:36:29.468] [info] Got request to cancel active goal. ×2 + 2.28sINFOros2_control_node[2026-11-11 19:36:29.468] [info] Canceling active goal... ×2 + 2.28sERRORobjective_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: 1794425789.47030973 seconds ×3 + 2.32sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.32sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.32sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.32sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.32sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.32sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.32sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.32sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.85sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.85sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.85sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.85sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.85sINFOobjective_server_nodecaller: ×2 + 2.85sINFOobjective_server_nodetype: 0 ×2 + 2.85sINFOobjective_server_nodename: "" ×2 + 2.85sINFOobjective_server_nodeinstance_id: "" ×2 + 2.85sINFOobjective_server_node ×2 + 2.90sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1794425790.09298325 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.91sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.91sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.07sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 3.07sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.08sINFOros2_control_node[2026-11-11 19:36:30.267] [info] Received new action goal ×2 + 3.08sINFOros2_control_node[2026-11-11 19:36:30.267] [info] Accepted new action goal ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.279454 ms (missed cycles : 3). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.279454 ms (missed cycles : 3).[0m ×2 + 5.89sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 5.89sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 5.89sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 6.16sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 6.16sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 6.16sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). ×2 + 6.16sINFOobjective_server_nodePath shortcutter: [X_______________X] ×2 + 6.17sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×4 + 6.19sINFOobjective_server_nodePath shortcutter: [X_________________________________X] ×2 + 6.20sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×2 + 6.25sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 6.27sINFOobjective_server_nodeFound path in 5 iterations (0.00396278 s). ×2 + 6.32sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________X_X_______________________X] ×2 + 6.34sINFOobjective_server_nodeFound path in 0 iterations (2e-07 s). ×2 + 6.40sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X] ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.747661 ms (missed cycles : 5). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.747661 ms (missed cycles : 5).[0m ×2 + 6.41sINFOobjective_server_nodeFound path in 0 iterations (2.1e-07 s). ×2 + 6.50sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X] ×2 | ||||
| − skipped | ErrorCheckVectorSize | errorcheckvectorsize.xml | 0.0s | 3 errors · 6 warnings · 115 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.07sINFOobjective_server_nodeFound path in 0 iterations (5.5e-07 s). ×2 + 0.07sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.08sINFOros2_control_node[2026-11-11 19:36:27.269] [info] Received new action goal ×2 + 0.08sINFOros2_control_node[2026-11-11 19:36:27.269] [info] Accepted new action goal ×2 + 2.27sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.28sINFOros2_control_node[2026-11-11 19:36:29.468] [info] Got request to cancel active goal. ×2 + 2.28sINFOros2_control_node[2026-11-11 19:36:29.468] [info] Canceling active goal... ×2 + 2.28sERRORobjective_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: 1794425789.47030973 seconds ×3 + 2.32sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.32sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.32sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.32sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.32sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.32sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.32sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.32sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.85sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.85sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.85sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.85sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.85sINFOobjective_server_nodecaller: ×2 + 2.85sINFOobjective_server_nodetype: 0 ×2 + 2.85sINFOobjective_server_nodename: "" ×2 + 2.85sINFOobjective_server_nodeinstance_id: "" ×2 + 2.85sINFOobjective_server_node ×2 + 2.90sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1794425790.09298325 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.91sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.91sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.07sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 3.07sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.08sINFOros2_control_node[2026-11-11 19:36:30.267] [info] Received new action goal ×2 + 3.08sINFOros2_control_node[2026-11-11 19:36:30.267] [info] Accepted new action goal ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.279454 ms (missed cycles : 3). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.279454 ms (missed cycles : 3).[0m ×2 + 5.89sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 5.89sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 5.89sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 6.16sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 6.16sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 6.16sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). ×2 + 6.16sINFOobjective_server_nodePath shortcutter: [X_______________X] ×2 + 6.17sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×4 + 6.19sINFOobjective_server_nodePath shortcutter: [X_________________________________X] ×2 + 6.20sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×2 + 6.25sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 6.27sINFOobjective_server_nodeFound path in 5 iterations (0.00396278 s). ×2 + 6.32sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________X_X_______________________X] ×2 + 6.34sINFOobjective_server_nodeFound path in 0 iterations (2e-07 s). ×2 + 6.40sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X] ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.747661 ms (missed cycles : 5). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.747661 ms (missed cycles : 5).[0m ×2 + 6.41sINFOobjective_server_nodeFound path in 0 iterations (2.1e-07 s). ×2 + 6.50sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X] ×2 | ||||
| − skipped | Fan Pose About Tool-Z Subtree | fan_pose_about_tool_z_subtree.xml | 0.0s | 3 errors · 6 warnings · 115 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.07sINFOobjective_server_nodeFound path in 0 iterations (5.5e-07 s). ×2 + 0.07sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.08sINFOros2_control_node[2026-11-11 19:36:27.269] [info] Received new action goal ×2 + 0.08sINFOros2_control_node[2026-11-11 19:36:27.269] [info] Accepted new action goal ×2 + 2.27sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.28sINFOros2_control_node[2026-11-11 19:36:29.468] [info] Got request to cancel active goal. ×2 + 2.28sINFOros2_control_node[2026-11-11 19:36:29.468] [info] Canceling active goal... ×2 + 2.28sERRORobjective_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: 1794425789.47030973 seconds ×3 + 2.32sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.32sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.32sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.32sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.32sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.32sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.32sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.32sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.85sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.85sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.85sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.85sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.85sINFOobjective_server_nodecaller: ×2 + 2.85sINFOobjective_server_nodetype: 0 ×2 + 2.85sINFOobjective_server_nodename: "" ×2 + 2.85sINFOobjective_server_nodeinstance_id: "" ×2 + 2.85sINFOobjective_server_node ×2 + 2.90sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1794425790.09298325 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.91sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.91sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.07sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 3.07sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.08sINFOros2_control_node[2026-11-11 19:36:30.267] [info] Received new action goal ×2 + 3.08sINFOros2_control_node[2026-11-11 19:36:30.267] [info] Accepted new action goal ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.279454 ms (missed cycles : 3). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.279454 ms (missed cycles : 3).[0m ×2 + 5.89sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 5.89sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 5.89sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 6.16sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 6.16sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 6.16sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). ×2 + 6.16sINFOobjective_server_nodePath shortcutter: [X_______________X] ×2 + 6.17sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×4 + 6.19sINFOobjective_server_nodePath shortcutter: [X_________________________________X] ×2 + 6.20sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×2 + 6.25sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 6.27sINFOobjective_server_nodeFound path in 5 iterations (0.00396278 s). ×2 + 6.32sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________X_X_______________________X] ×2 + 6.34sINFOobjective_server_nodeFound path in 0 iterations (2e-07 s). ×2 + 6.40sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X] ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.747661 ms (missed cycles : 5). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.747661 ms (missed cycles : 5).[0m ×2 + 6.41sINFOobjective_server_nodeFound path in 0 iterations (2.1e-07 s). ×2 + 6.50sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X] ×2 | ||||
| − skipped | Fit Bottle Model Subtree | fit_bottle_model_subtree.xml | 0.0s | 3 errors · 6 warnings · 115 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.07sINFOobjective_server_nodeFound path in 0 iterations (5.5e-07 s). ×2 + 0.07sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.08sINFOros2_control_node[2026-11-11 19:36:27.269] [info] Received new action goal ×2 + 0.08sINFOros2_control_node[2026-11-11 19:36:27.269] [info] Accepted new action goal ×2 + 2.27sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.28sINFOros2_control_node[2026-11-11 19:36:29.468] [info] Got request to cancel active goal. ×2 + 2.28sINFOros2_control_node[2026-11-11 19:36:29.468] [info] Canceling active goal... ×2 + 2.28sERRORobjective_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: 1794425789.47030973 seconds ×3 + 2.32sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.32sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.32sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.32sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.32sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.32sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.32sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.32sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.85sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.85sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.85sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.85sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.85sINFOobjective_server_nodecaller: ×2 + 2.85sINFOobjective_server_nodetype: 0 ×2 + 2.85sINFOobjective_server_nodename: "" ×2 + 2.85sINFOobjective_server_nodeinstance_id: "" ×2 + 2.85sINFOobjective_server_node ×2 + 2.90sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1794425790.09298325 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.91sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.91sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.07sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 3.07sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.08sINFOros2_control_node[2026-11-11 19:36:30.267] [info] Received new action goal ×2 + 3.08sINFOros2_control_node[2026-11-11 19:36:30.267] [info] Accepted new action goal ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.279454 ms (missed cycles : 3). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.279454 ms (missed cycles : 3).[0m ×2 + 5.89sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 5.89sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 5.89sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 6.16sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 6.16sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 6.16sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). ×2 + 6.16sINFOobjective_server_nodePath shortcutter: [X_______________X] ×2 + 6.17sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×4 + 6.19sINFOobjective_server_nodePath shortcutter: [X_________________________________X] ×2 + 6.20sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×2 + 6.25sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 6.27sINFOobjective_server_nodeFound path in 5 iterations (0.00396278 s). ×2 + 6.32sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________X_X_______________________X] ×2 + 6.34sINFOobjective_server_nodeFound path in 0 iterations (2e-07 s). ×2 + 6.40sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X] ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.747661 ms (missed cycles : 5). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.747661 ms (missed cycles : 5).[0m ×2 + 6.41sINFOobjective_server_nodeFound path in 0 iterations (2.1e-07 s). ×2 + 6.50sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X] ×2 | ||||
| − skipped | Force Relaxation | force_relaxation.xml | 0.0s | 3 errors · 6 warnings · 115 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.07sINFOobjective_server_nodeFound path in 0 iterations (5.5e-07 s). ×2 + 0.07sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.08sINFOros2_control_node[2026-11-11 19:36:27.269] [info] Received new action goal ×2 + 0.08sINFOros2_control_node[2026-11-11 19:36:27.269] [info] Accepted new action goal ×2 + 2.27sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.28sINFOros2_control_node[2026-11-11 19:36:29.468] [info] Got request to cancel active goal. ×2 + 2.28sINFOros2_control_node[2026-11-11 19:36:29.468] [info] Canceling active goal... ×2 + 2.28sERRORobjective_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: 1794425789.47030973 seconds ×3 + 2.32sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.32sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.32sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.32sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.32sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.32sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.32sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.32sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.85sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.85sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.85sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.85sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.85sINFOobjective_server_nodecaller: ×2 + 2.85sINFOobjective_server_nodetype: 0 ×2 + 2.85sINFOobjective_server_nodename: "" ×2 + 2.85sINFOobjective_server_nodeinstance_id: "" ×2 + 2.85sINFOobjective_server_node ×2 + 2.90sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1794425790.09298325 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.91sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.91sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.07sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 3.07sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.08sINFOros2_control_node[2026-11-11 19:36:30.267] [info] Received new action goal ×2 + 3.08sINFOros2_control_node[2026-11-11 19:36:30.267] [info] Accepted new action goal ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.279454 ms (missed cycles : 3). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.279454 ms (missed cycles : 3).[0m ×2 + 5.89sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 5.89sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 5.89sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 6.16sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 6.16sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 6.16sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). ×2 + 6.16sINFOobjective_server_nodePath shortcutter: [X_______________X] ×2 + 6.17sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×4 + 6.19sINFOobjective_server_nodePath shortcutter: [X_________________________________X] ×2 + 6.20sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×2 + 6.25sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 6.27sINFOobjective_server_nodeFound path in 5 iterations (0.00396278 s). ×2 + 6.32sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________X_X_______________________X] ×2 + 6.34sINFOobjective_server_nodeFound path in 0 iterations (2e-07 s). ×2 + 6.40sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X] ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.747661 ms (missed cycles : 5). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.747661 ms (missed cycles : 5).[0m ×2 + 6.41sINFOobjective_server_nodeFound path in 0 iterations (2.1e-07 s). ×2 + 6.50sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X] ×2 | ||||
| − skipped | Fuse Multiple Views Subtree | fuse_multiple_views_subtree.xml | 0.0s | 3 errors · 6 warnings · 115 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.07sINFOobjective_server_nodeFound path in 0 iterations (5.5e-07 s). ×2 + 0.07sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.08sINFOros2_control_node[2026-11-11 19:36:27.269] [info] Received new action goal ×2 + 0.08sINFOros2_control_node[2026-11-11 19:36:27.269] [info] Accepted new action goal ×2 + 2.27sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.28sINFOros2_control_node[2026-11-11 19:36:29.468] [info] Got request to cancel active goal. ×2 + 2.28sINFOros2_control_node[2026-11-11 19:36:29.468] [info] Canceling active goal... ×2 + 2.28sERRORobjective_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: 1794425789.47030973 seconds ×3 + 2.32sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.32sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.32sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.32sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.32sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.32sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.32sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.32sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.85sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.85sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.85sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.85sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.85sINFOobjective_server_nodecaller: ×2 + 2.85sINFOobjective_server_nodetype: 0 ×2 + 2.85sINFOobjective_server_nodename: "" ×2 + 2.85sINFOobjective_server_nodeinstance_id: "" ×2 + 2.85sINFOobjective_server_node ×2 + 2.90sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1794425790.09298325 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.91sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.91sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.07sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 3.07sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.08sINFOros2_control_node[2026-11-11 19:36:30.267] [info] Received new action goal ×2 + 3.08sINFOros2_control_node[2026-11-11 19:36:30.267] [info] Accepted new action goal ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.279454 ms (missed cycles : 3). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.279454 ms (missed cycles : 3).[0m ×2 + 5.89sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 5.89sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 5.89sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 6.16sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 6.16sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 6.16sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). ×2 + 6.16sINFOobjective_server_nodePath shortcutter: [X_______________X] ×2 + 6.17sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×4 + 6.19sINFOobjective_server_nodePath shortcutter: [X_________________________________X] ×2 + 6.20sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×2 + 6.25sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 6.27sINFOobjective_server_nodeFound path in 5 iterations (0.00396278 s). ×2 + 6.32sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________X_X_______________________X] ×2 + 6.34sINFOobjective_server_nodeFound path in 0 iterations (2e-07 s). ×2 + 6.40sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X] ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.747661 ms (missed cycles : 5). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.747661 ms (missed cycles : 5).[0m ×2 + 6.41sINFOobjective_server_nodeFound path in 0 iterations (2.1e-07 s). ×2 + 6.50sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X] ×2 | ||||
| − skipped | Get AprilTag Pose from Image | get_april_tag_pose_from_image.xml | 0.0s | 3 errors · 6 warnings · 115 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.07sINFOobjective_server_nodeFound path in 0 iterations (5.5e-07 s). ×2 + 0.07sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.08sINFOros2_control_node[2026-11-11 19:36:27.269] [info] Received new action goal ×2 + 0.08sINFOros2_control_node[2026-11-11 19:36:27.269] [info] Accepted new action goal ×2 + 2.27sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.28sINFOros2_control_node[2026-11-11 19:36:29.468] [info] Got request to cancel active goal. ×2 + 2.28sINFOros2_control_node[2026-11-11 19:36:29.468] [info] Canceling active goal... ×2 + 2.28sERRORobjective_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: 1794425789.47030973 seconds ×3 + 2.32sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.32sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.32sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.32sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.32sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.32sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.32sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.32sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.85sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.85sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.85sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.85sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.85sINFOobjective_server_nodecaller: ×2 + 2.85sINFOobjective_server_nodetype: 0 ×2 + 2.85sINFOobjective_server_nodename: "" ×2 + 2.85sINFOobjective_server_nodeinstance_id: "" ×2 + 2.85sINFOobjective_server_node ×2 + 2.90sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1794425790.09298325 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.91sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.91sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.07sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 3.07sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.08sINFOros2_control_node[2026-11-11 19:36:30.267] [info] Received new action goal ×2 + 3.08sINFOros2_control_node[2026-11-11 19:36:30.267] [info] Accepted new action goal ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.279454 ms (missed cycles : 3). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.279454 ms (missed cycles : 3).[0m ×2 + 5.89sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 5.89sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 5.89sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 6.16sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 6.16sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 6.16sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). ×2 + 6.16sINFOobjective_server_nodePath shortcutter: [X_______________X] ×2 + 6.17sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×4 + 6.19sINFOobjective_server_nodePath shortcutter: [X_________________________________X] ×2 + 6.20sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×2 + 6.25sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 6.27sINFOobjective_server_nodeFound path in 5 iterations (0.00396278 s). ×2 + 6.32sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________X_X_______________________X] ×2 + 6.34sINFOobjective_server_nodeFound path in 0 iterations (2e-07 s). ×2 + 6.40sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X] ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.747661 ms (missed cycles : 5). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.747661 ms (missed cycles : 5).[0m ×2 + 6.41sINFOobjective_server_nodeFound path in 0 iterations (2.1e-07 s). ×2 + 6.50sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X] ×2 | ||||
| − skipped | Get Bottle Grasp via ICP Subtree | get_bottle_grasp_via_icp_subtree.xml | 0.0s | 3 errors · 6 warnings · 115 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.07sINFOobjective_server_nodeFound path in 0 iterations (5.5e-07 s). ×2 + 0.07sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.08sINFOros2_control_node[2026-11-11 19:36:27.269] [info] Received new action goal ×2 + 0.08sINFOros2_control_node[2026-11-11 19:36:27.269] [info] Accepted new action goal ×2 + 2.27sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.28sINFOros2_control_node[2026-11-11 19:36:29.468] [info] Got request to cancel active goal. ×2 + 2.28sINFOros2_control_node[2026-11-11 19:36:29.468] [info] Canceling active goal... ×2 + 2.28sERRORobjective_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: 1794425789.47030973 seconds ×3 + 2.32sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.32sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.32sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.32sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.32sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.32sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.32sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.32sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.85sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.85sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.85sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.85sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.85sINFOobjective_server_nodecaller: ×2 + 2.85sINFOobjective_server_nodetype: 0 ×2 + 2.85sINFOobjective_server_nodename: "" ×2 + 2.85sINFOobjective_server_nodeinstance_id: "" ×2 + 2.85sINFOobjective_server_node ×2 + 2.90sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1794425790.09298325 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.91sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.91sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.07sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 3.07sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.08sINFOros2_control_node[2026-11-11 19:36:30.267] [info] Received new action goal ×2 + 3.08sINFOros2_control_node[2026-11-11 19:36:30.267] [info] Accepted new action goal ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.279454 ms (missed cycles : 3). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.279454 ms (missed cycles : 3).[0m ×2 + 5.89sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 5.89sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 5.89sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 6.16sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 6.16sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 6.16sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). ×2 + 6.16sINFOobjective_server_nodePath shortcutter: [X_______________X] ×2 + 6.17sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×4 + 6.19sINFOobjective_server_nodePath shortcutter: [X_________________________________X] ×2 + 6.20sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×2 + 6.25sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 6.27sINFOobjective_server_nodeFound path in 5 iterations (0.00396278 s). ×2 + 6.32sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________X_X_______________________X] ×2 + 6.34sINFOobjective_server_nodeFound path in 0 iterations (2e-07 s). ×2 + 6.40sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X] ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.747661 ms (missed cycles : 5). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.747661 ms (missed cycles : 5).[0m ×2 + 6.41sINFOobjective_server_nodeFound path in 0 iterations (2.1e-07 s). ×2 + 6.50sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X] ×2 | ||||
| − skipped | Get Fresh Point Cloud | get_fresh_point_cloud.xml | 0.0s | 3 errors · 6 warnings · 115 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.07sINFOobjective_server_nodeFound path in 0 iterations (5.5e-07 s). ×2 + 0.07sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.08sINFOros2_control_node[2026-11-11 19:36:27.269] [info] Received new action goal ×2 + 0.08sINFOros2_control_node[2026-11-11 19:36:27.269] [info] Accepted new action goal ×2 + 2.27sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.28sINFOros2_control_node[2026-11-11 19:36:29.468] [info] Got request to cancel active goal. ×2 + 2.28sINFOros2_control_node[2026-11-11 19:36:29.468] [info] Canceling active goal... ×2 + 2.28sERRORobjective_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: 1794425789.47030973 seconds ×3 + 2.32sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.32sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.32sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.32sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.32sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.32sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.32sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.32sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.85sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.85sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.85sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.85sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.85sINFOobjective_server_nodecaller: ×2 + 2.85sINFOobjective_server_nodetype: 0 ×2 + 2.85sINFOobjective_server_nodename: "" ×2 + 2.85sINFOobjective_server_nodeinstance_id: "" ×2 + 2.85sINFOobjective_server_node ×2 + 2.90sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1794425790.09298325 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.91sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.91sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.07sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 3.07sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.08sINFOros2_control_node[2026-11-11 19:36:30.267] [info] Received new action goal ×2 + 3.08sINFOros2_control_node[2026-11-11 19:36:30.267] [info] Accepted new action goal ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.279454 ms (missed cycles : 3). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.279454 ms (missed cycles : 3).[0m ×2 + 5.89sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 5.89sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 5.89sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 6.16sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 6.16sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 6.16sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). ×2 + 6.16sINFOobjective_server_nodePath shortcutter: [X_______________X] ×2 + 6.17sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×4 + 6.19sINFOobjective_server_nodePath shortcutter: [X_________________________________X] ×2 + 6.20sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×2 + 6.25sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 6.27sINFOobjective_server_nodeFound path in 5 iterations (0.00396278 s). ×2 + 6.32sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________X_X_______________________X] ×2 + 6.34sINFOobjective_server_nodeFound path in 0 iterations (2e-07 s). ×2 + 6.40sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X] ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.747661 ms (missed cycles : 5). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.747661 ms (missed cycles : 5).[0m ×2 + 6.41sINFOobjective_server_nodeFound path in 0 iterations (2.1e-07 s). ×2 + 6.50sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X] ×2 | ||||
| − skipped | GetPoseAtGripperandDisplay | get_pose_at_gripper_and_display.xml | 0.0s | 3 errors · 6 warnings · 115 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.07sINFOobjective_server_nodeFound path in 0 iterations (5.5e-07 s). ×2 + 0.07sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.08sINFOros2_control_node[2026-11-11 19:36:27.269] [info] Received new action goal ×2 + 0.08sINFOros2_control_node[2026-11-11 19:36:27.269] [info] Accepted new action goal ×2 + 2.27sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.28sINFOros2_control_node[2026-11-11 19:36:29.468] [info] Got request to cancel active goal. ×2 + 2.28sINFOros2_control_node[2026-11-11 19:36:29.468] [info] Canceling active goal... ×2 + 2.28sERRORobjective_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: 1794425789.47030973 seconds ×3 + 2.32sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.32sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.32sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.32sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.32sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.32sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.32sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.32sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.85sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.85sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.85sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.85sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.85sINFOobjective_server_nodecaller: ×2 + 2.85sINFOobjective_server_nodetype: 0 ×2 + 2.85sINFOobjective_server_nodename: "" ×2 + 2.85sINFOobjective_server_nodeinstance_id: "" ×2 + 2.85sINFOobjective_server_node ×2 + 2.90sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1794425790.09298325 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.91sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.91sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.07sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 3.07sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.08sINFOros2_control_node[2026-11-11 19:36:30.267] [info] Received new action goal ×2 + 3.08sINFOros2_control_node[2026-11-11 19:36:30.267] [info] Accepted new action goal ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.279454 ms (missed cycles : 3). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.279454 ms (missed cycles : 3).[0m ×2 + 5.89sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 5.89sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 5.89sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 6.16sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 6.16sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 6.16sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). ×2 + 6.16sINFOobjective_server_nodePath shortcutter: [X_______________X] ×2 + 6.17sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×4 + 6.19sINFOobjective_server_nodePath shortcutter: [X_________________________________X] ×2 + 6.20sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×2 + 6.25sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 6.27sINFOobjective_server_nodeFound path in 5 iterations (0.00396278 s). ×2 + 6.32sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________X_X_______________________X] ×2 + 6.34sINFOobjective_server_nodeFound path in 0 iterations (2e-07 s). ×2 + 6.40sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X] ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.747661 ms (missed cycles : 5). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.747661 ms (missed cycles : 5).[0m ×2 + 6.41sINFOobjective_server_nodeFound path in 0 iterations (2.1e-07 s). ×2 + 6.50sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X] ×2 | ||||
| − skipped | Get Transform Frame Pose | get_transform_frame_pose.xml | 0.0s | 3 errors · 6 warnings · 115 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.07sINFOobjective_server_nodeFound path in 0 iterations (5.5e-07 s). ×2 + 0.07sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.08sINFOros2_control_node[2026-11-11 19:36:27.269] [info] Received new action goal ×2 + 0.08sINFOros2_control_node[2026-11-11 19:36:27.269] [info] Accepted new action goal ×2 + 2.27sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.28sINFOros2_control_node[2026-11-11 19:36:29.468] [info] Got request to cancel active goal. ×2 + 2.28sINFOros2_control_node[2026-11-11 19:36:29.468] [info] Canceling active goal... ×2 + 2.28sERRORobjective_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: 1794425789.47030973 seconds ×3 + 2.32sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.32sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.32sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.32sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.32sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.32sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.32sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.32sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.85sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.85sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.85sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.85sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.85sINFOobjective_server_nodecaller: ×2 + 2.85sINFOobjective_server_nodetype: 0 ×2 + 2.85sINFOobjective_server_nodename: "" ×2 + 2.85sINFOobjective_server_nodeinstance_id: "" ×2 + 2.85sINFOobjective_server_node ×2 + 2.90sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1794425790.09298325 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.91sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.91sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.07sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 3.07sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.08sINFOros2_control_node[2026-11-11 19:36:30.267] [info] Received new action goal ×2 + 3.08sINFOros2_control_node[2026-11-11 19:36:30.267] [info] Accepted new action goal ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.279454 ms (missed cycles : 3). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.279454 ms (missed cycles : 3).[0m ×2 + 5.89sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 5.89sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 5.89sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 6.16sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 6.16sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 6.16sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). ×2 + 6.16sINFOobjective_server_nodePath shortcutter: [X_______________X] ×2 + 6.17sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×4 + 6.19sINFOobjective_server_nodePath shortcutter: [X_________________________________X] ×2 + 6.20sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×2 + 6.25sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 6.27sINFOobjective_server_nodeFound path in 5 iterations (0.00396278 s). ×2 + 6.32sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________X_X_______________________X] ×2 + 6.34sINFOobjective_server_nodeFound path in 0 iterations (2e-07 s). ×2 + 6.40sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X] ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.747661 ms (missed cycles : 5). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.747661 ms (missed cycles : 5).[0m ×2 + 6.41sINFOobjective_server_nodeFound path in 0 iterations (2.1e-07 s). ×2 + 6.50sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X] ×2 | ||||
| − skipped | Grasp Planning | grasp_planning.xml | 0.0s | 3 errors · 6 warnings · 115 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.07sINFOobjective_server_nodeFound path in 0 iterations (5.5e-07 s). ×2 + 0.07sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.08sINFOros2_control_node[2026-11-11 19:36:27.269] [info] Received new action goal ×2 + 0.08sINFOros2_control_node[2026-11-11 19:36:27.269] [info] Accepted new action goal ×2 + 2.27sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.28sINFOros2_control_node[2026-11-11 19:36:29.468] [info] Got request to cancel active goal. ×2 + 2.28sINFOros2_control_node[2026-11-11 19:36:29.468] [info] Canceling active goal... ×2 + 2.28sERRORobjective_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: 1794425789.47030973 seconds ×3 + 2.32sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.32sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.32sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.32sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.32sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.32sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.32sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.32sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.85sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.85sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.85sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.85sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.85sINFOobjective_server_nodecaller: ×2 + 2.85sINFOobjective_server_nodetype: 0 ×2 + 2.85sINFOobjective_server_nodename: "" ×2 + 2.85sINFOobjective_server_nodeinstance_id: "" ×2 + 2.85sINFOobjective_server_node ×2 + 2.90sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1794425790.09298325 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.91sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.91sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.07sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 3.07sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.08sINFOros2_control_node[2026-11-11 19:36:30.267] [info] Received new action goal ×2 + 3.08sINFOros2_control_node[2026-11-11 19:36:30.267] [info] Accepted new action goal ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.279454 ms (missed cycles : 3). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.279454 ms (missed cycles : 3).[0m ×2 + 5.89sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 5.89sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 5.89sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 6.16sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 6.16sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 6.16sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). ×2 + 6.16sINFOobjective_server_nodePath shortcutter: [X_______________X] ×2 + 6.17sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×4 + 6.19sINFOobjective_server_nodePath shortcutter: [X_________________________________X] ×2 + 6.20sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×2 + 6.25sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 6.27sINFOobjective_server_nodeFound path in 5 iterations (0.00396278 s). ×2 + 6.32sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________X_X_______________________X] ×2 + 6.34sINFOobjective_server_nodeFound path in 0 iterations (2e-07 s). ×2 + 6.40sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X] ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.747661 ms (missed cycles : 5). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.747661 ms (missed cycles : 5).[0m ×2 + 6.41sINFOobjective_server_nodeFound path in 0 iterations (2.1e-07 s). ×2 + 6.50sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X] ×2 | ||||
| − skipped | Joint Diagnostic | joint_diagnostic.xml | 0.0s | 3 errors · 3 warnings · 82 info |
+ 0.00sINFOros2_control_node[2026-11-11 19:36:49.097] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-11-11 19:36:49.097] [info] Accepted new action goal ×2 + 1.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.26sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.28sINFOros2_control_node[2026-11-11 19:36:51.373] [info] Received new action goal ×2 + 2.28sINFOros2_control_node[2026-11-11 19:36:51.373] [info] Accepted new action goal ×2 + 2.47sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.47sINFOros2_control_node[2026-11-11 19:36:51.569] [info] Got request to cancel active goal. ×2 + 2.47sINFOros2_control_node[2026-11-11 19:36:51.569] [info] Canceling active goal... ×2 + 2.49sERRORobjective_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: 1794425811.58383369 seconds ×3 + 2.54sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.54sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.54sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.54sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.54sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.54sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.54sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.54sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.54sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.54sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.55sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.55sINFOros2_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 + 3.17sINFOobjective_server_nodeObjective `Live Surface Coverage Demo` starting at time: 1794425812.27286601 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.10sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.17sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 4.17sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.18sINFOros2_control_node[2026-11-11 19:36:53.276] [info] Received new action goal ×2 + 4.18sINFOros2_control_node[2026-11-11 19:36:53.276] [info] Accepted new action goal ×2 + 6.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.841291 ms (missed cycles : 3). + 6.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.841291 ms (missed cycles : 3).[0m ×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: 1794425843.12243772 seconds ×3 + 0.00sINFOcontroller_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 + 0.02sINFOros2_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 + 0.58sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1794425843.70443964 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.63sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 0.63sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 0.64sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 0.64sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 0.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.705337 ms (missed cycles : 2). + 0.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.705337 ms (missed cycles : 2).[0m ×2 + 0.65sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1794425843.77457833 seconds ×3 + 1.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.38sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 1.43sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1794425844.55091739 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.44sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 1.51sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 1.51sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.52sINFOros2_control_node[2026-11-11 19:37:24.645] [info] Received new action goal ×2 + 1.52sINFOros2_control_node[2026-11-11 19:37:24.645] [info] Accepted new action goal ×2 + 3.53sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1794425846.65107751 seconds ×3 | ||||
| − skipped | ML Find Bottles on Table from Image Exemplar | ml_find_bottles_on_table_from_image_exemplar.xml | 0.0s | 81 info |
+ 0.00sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1794425846.65107751 seconds ×3 + 1.01sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 1.01sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 1.01sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 1.01sINFOcontroller_managerSuccessfully switched controllers! ×2 + 1.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 1.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 1.02sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 1.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 1.02sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 1.02sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 1.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 1.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 1.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.54sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 1.54sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 1.54sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 1.54sINFOobjective_server_nodeparameter_overrides: [] ×2 + 1.54sINFOobjective_server_nodecaller: ×2 + 1.54sINFOobjective_server_nodetype: 0 ×2 + 1.54sINFOobjective_server_nodename: "" ×2 + 1.54sINFOobjective_server_nodeinstance_id: "" ×2 + 1.54sINFOobjective_server_node ×2 + 1.61sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1794425848.25739765 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.61sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.61sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.69sINFOobjective_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 + 1.70sINFOobjective_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 + 1.95sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×2 + 1.96sINFOobjective_server_nodePath shortcutter: [X_____________X] ×4 + 1.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.99sINFOros2_control_node[2026-11-11 19:37:28.643] [info] Received new action goal ×2 + 1.99sINFOros2_control_node[2026-11-11 19:37:28.643] [info] Accepted new action goal ×2 + 4.81sINFOobjective_server_nodeFound path in 0 iterations (2.3e-07 s). ×2 + 4.82sINFOros2_control_node[2026-11-11 19:37:31.471] [info] Received new action goal ×2 + 4.82sINFOros2_control_node[2026-11-11 19:37:31.471] [info] Accepted new action goal ×2 | ||||
| − skipped | ML Segment Bottles from File | ml_segment_bottles_from_file.xml | 0.0s | 81 info |
+ 0.00sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1794425846.65107751 seconds ×3 + 1.01sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 1.01sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 1.01sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 1.01sINFOcontroller_managerSuccessfully switched controllers! ×2 + 1.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 1.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 1.02sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 1.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 1.02sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 1.02sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 1.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 1.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 1.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.54sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 1.54sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 1.54sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 1.54sINFOobjective_server_nodeparameter_overrides: [] ×2 + 1.54sINFOobjective_server_nodecaller: ×2 + 1.54sINFOobjective_server_nodetype: 0 ×2 + 1.54sINFOobjective_server_nodename: "" ×2 + 1.54sINFOobjective_server_nodeinstance_id: "" ×2 + 1.54sINFOobjective_server_node ×2 + 1.61sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1794425848.25739765 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.61sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.61sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.69sINFOobjective_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 + 1.70sINFOobjective_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 + 1.95sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×2 + 1.96sINFOobjective_server_nodePath shortcutter: [X_____________X] ×4 + 1.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.99sINFOros2_control_node[2026-11-11 19:37:28.643] [info] Received new action goal ×2 + 1.99sINFOros2_control_node[2026-11-11 19:37:28.643] [info] Accepted new action goal ×2 + 4.81sINFOobjective_server_nodeFound path in 0 iterations (2.3e-07 s). ×2 + 4.82sINFOros2_control_node[2026-11-11 19:37:31.471] [info] Received new action goal ×2 + 4.82sINFOros2_control_node[2026-11-11 19:37:31.471] [info] Accepted new action goal ×2 | ||||
| − skipped | ML Segment Image | ml_segment_image.xml | 0.0s | 81 info |
+ 0.00sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1794425846.65107751 seconds ×3 + 1.01sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 1.01sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 1.01sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 1.01sINFOcontroller_managerSuccessfully switched controllers! ×2 + 1.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 1.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 1.02sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 1.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 1.02sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 1.02sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 1.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 1.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 1.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.54sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 1.54sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 1.54sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 1.54sINFOobjective_server_nodeparameter_overrides: [] ×2 + 1.54sINFOobjective_server_nodecaller: ×2 + 1.54sINFOobjective_server_nodetype: 0 ×2 + 1.54sINFOobjective_server_nodename: "" ×2 + 1.54sINFOobjective_server_nodeinstance_id: "" ×2 + 1.54sINFOobjective_server_node ×2 + 1.61sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1794425848.25739765 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.61sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.61sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.69sINFOobjective_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 + 1.70sINFOobjective_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 + 1.95sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×2 + 1.96sINFOobjective_server_nodePath shortcutter: [X_____________X] ×4 + 1.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.99sINFOros2_control_node[2026-11-11 19:37:28.643] [info] Received new action goal ×2 + 1.99sINFOros2_control_node[2026-11-11 19:37:28.643] [info] Accepted new action goal ×2 + 4.81sINFOobjective_server_nodeFound path in 0 iterations (2.3e-07 s). ×2 + 4.82sINFOros2_control_node[2026-11-11 19:37:31.471] [info] Received new action goal ×2 + 4.82sINFOros2_control_node[2026-11-11 19:37:31.471] [info] Accepted new action goal ×2 | ||||
| − skipped | ML Segment Image Loop | ml_segment_image_loop.xml | 0.0s | 81 info |
+ 0.00sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1794425846.65107751 seconds ×3 + 1.01sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 1.01sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 1.01sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 1.01sINFOcontroller_managerSuccessfully switched controllers! ×2 + 1.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 1.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 1.02sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 1.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 1.02sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 1.02sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 1.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 1.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 1.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.54sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 1.54sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 1.54sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 1.54sINFOobjective_server_nodeparameter_overrides: [] ×2 + 1.54sINFOobjective_server_nodecaller: ×2 + 1.54sINFOobjective_server_nodetype: 0 ×2 + 1.54sINFOobjective_server_nodename: "" ×2 + 1.54sINFOobjective_server_nodeinstance_id: "" ×2 + 1.54sINFOobjective_server_node ×2 + 1.61sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1794425848.25739765 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.61sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.61sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.69sINFOobjective_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 + 1.70sINFOobjective_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 + 1.95sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×2 + 1.96sINFOobjective_server_nodePath shortcutter: [X_____________X] ×4 + 1.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.99sINFOros2_control_node[2026-11-11 19:37:28.643] [info] Received new action goal ×2 + 1.99sINFOros2_control_node[2026-11-11 19:37:28.643] [info] Accepted new action goal ×2 + 4.81sINFOobjective_server_nodeFound path in 0 iterations (2.3e-07 s). ×2 + 4.82sINFOros2_control_node[2026-11-11 19:37:31.471] [info] Received new action goal ×2 + 4.82sINFOros2_control_node[2026-11-11 19:37:31.471] [info] Accepted new action goal ×2 | ||||
| − skipped | ML Segment Point Cloud | ml_segment_point_cloud.xml | 0.0s | 81 info |
+ 0.00sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1794425846.65107751 seconds ×3 + 1.01sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 1.01sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 1.01sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 1.01sINFOcontroller_managerSuccessfully switched controllers! ×2 + 1.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 1.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 1.02sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 1.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 1.02sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 1.02sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 1.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 1.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 1.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.54sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 1.54sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 1.54sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 1.54sINFOobjective_server_nodeparameter_overrides: [] ×2 + 1.54sINFOobjective_server_nodecaller: ×2 + 1.54sINFOobjective_server_nodetype: 0 ×2 + 1.54sINFOobjective_server_nodename: "" ×2 + 1.54sINFOobjective_server_nodeinstance_id: "" ×2 + 1.54sINFOobjective_server_node ×2 + 1.61sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1794425848.25739765 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.61sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.61sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.69sINFOobjective_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 + 1.70sINFOobjective_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 + 1.95sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×2 + 1.96sINFOobjective_server_nodePath shortcutter: [X_____________X] ×4 + 1.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.99sINFOros2_control_node[2026-11-11 19:37:28.643] [info] Received new action goal ×2 + 1.99sINFOros2_control_node[2026-11-11 19:37:28.643] [info] Accepted new action goal ×2 + 4.81sINFOobjective_server_nodeFound path in 0 iterations (2.3e-07 s). ×2 + 4.82sINFOros2_control_node[2026-11-11 19:37:31.471] [info] Received new action goal ×2 + 4.82sINFOros2_control_node[2026-11-11 19:37:31.471] [info] Accepted new action goal ×2 | ||||
| − skipped | ML Segment Point Cloud from Clicked Point | ml_segment_point_cloud_from_clicked_point.xml | 0.0s | 81 info |
+ 0.00sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1794425846.65107751 seconds ×3 + 1.01sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 1.01sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 1.01sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 1.01sINFOcontroller_managerSuccessfully switched controllers! ×2 + 1.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 1.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 1.02sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 1.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 1.02sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 1.02sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 1.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 1.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 1.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.54sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 1.54sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 1.54sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 1.54sINFOobjective_server_nodeparameter_overrides: [] ×2 + 1.54sINFOobjective_server_nodecaller: ×2 + 1.54sINFOobjective_server_nodetype: 0 ×2 + 1.54sINFOobjective_server_nodename: "" ×2 + 1.54sINFOobjective_server_nodeinstance_id: "" ×2 + 1.54sINFOobjective_server_node ×2 + 1.61sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1794425848.25739765 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.61sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.61sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.69sINFOobjective_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 + 1.70sINFOobjective_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 + 1.95sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×2 + 1.96sINFOobjective_server_nodePath shortcutter: [X_____________X] ×4 + 1.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.99sINFOros2_control_node[2026-11-11 19:37:28.643] [info] Received new action goal ×2 + 1.99sINFOros2_control_node[2026-11-11 19:37:28.643] [info] Accepted new action goal ×2 + 4.81sINFOobjective_server_nodeFound path in 0 iterations (2.3e-07 s). ×2 + 4.82sINFOros2_control_node[2026-11-11 19:37:31.471] [info] Received new action goal ×2 + 4.82sINFOros2_control_node[2026-11-11 19:37:31.471] [info] Accepted new action goal ×2 | ||||
| − skipped | Move Along Square | move_along_square.xml | 0.0s | 81 info |
+ 0.00sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1794425846.65107751 seconds ×3 + 1.01sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 1.01sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 1.01sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 1.01sINFOcontroller_managerSuccessfully switched controllers! ×2 + 1.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 1.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 1.02sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 1.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 1.02sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 1.02sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 1.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 1.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 1.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.54sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 1.54sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 1.54sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 1.54sINFOobjective_server_nodeparameter_overrides: [] ×2 + 1.54sINFOobjective_server_nodecaller: ×2 + 1.54sINFOobjective_server_nodetype: 0 ×2 + 1.54sINFOobjective_server_nodename: "" ×2 + 1.54sINFOobjective_server_nodeinstance_id: "" ×2 + 1.54sINFOobjective_server_node ×2 + 1.61sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1794425848.25739765 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.61sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.61sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.69sINFOobjective_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 + 1.70sINFOobjective_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 + 1.95sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×2 + 1.96sINFOobjective_server_nodePath shortcutter: [X_____________X] ×4 + 1.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.99sINFOros2_control_node[2026-11-11 19:37:28.643] [info] Received new action goal ×2 + 1.99sINFOros2_control_node[2026-11-11 19:37:28.643] [info] Accepted new action goal ×2 + 4.81sINFOobjective_server_nodeFound path in 0 iterations (2.3e-07 s). ×2 + 4.82sINFOros2_control_node[2026-11-11 19:37:31.471] [info] Received new action goal ×2 + 4.82sINFOros2_control_node[2026-11-11 19:37:31.471] [info] Accepted new action goal ×2 | ||||
| − skipped | MPC Pose Tracking | mpc_pose_tracking.xml | 0.0s | 1812 info |
+ 0.00sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1794425901.71771455 seconds ×3 + 0.01sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 0.01sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 0.01sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×3 + 0.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 0.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 0.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 0.02sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 0.02sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 0.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 0.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 0.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.54sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 0.54sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample" ×2 + 0.54sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 0.54sINFOobjective_server_nodeparameter_overrides: [] ×2 + 0.54sINFOobjective_server_nodecaller: ×2 + 0.54sINFOobjective_server_nodetype: 0 ×2 + 0.54sINFOobjective_server_nodename: "" ×2 + 0.54sINFOobjective_server_nodeinstance_id: "" ×2 + 0.54sINFOobjective_server_node ×2 + 0.59sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1794425902.31195545 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.67sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 0.74sINFOobjective_server_nodeFound path in 0 iterations (2.2e-07 s). ×2 + 0.74sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 0.75sINFOros2_control_node[2026-11-11 19:38:22.465] [info] Received new action goal ×2 + 0.75sINFOros2_control_node[2026-11-11 19:38:22.465] [info] Accepted new action goal ×2 + 2.01sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.16727752384940525;y=0.47323919871065;z=0.7971805284211555, orientation: x=0.5894248519484582;y=0.7987881401812754;z=0.09721280806199328;w=-0.07117247333048911 ×3 + 2.02sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 2.08sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×3 + 2.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 2.08sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] + 2.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 2.08sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 2.08sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] + 2.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 2.08sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 2.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 2.56sINFOjoint_trajectory_controllerReceived new action goal ×288 + 2.56sINFOjoint_trajectory_controllerAccepted new action goal ×288 + 2.56sINFOros2_control_nodeReceived new action goal[0m ×576 + 2.56sINFOros2_control_nodeAccepted new action goal[0m ×576 | ||||
| − skipped | MPC Pose Tracking With Point Cloud Avoidance | mpc_pose_tracking_with_point_cloud_avoidance.xml | 0.0s | 6 warnings · 2910 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×467 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×467 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×934 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×934 + 1.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.727079 ms (missed cycles : 2). + 1.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.727079 ms (missed cycles : 2).[0m ×2 + 2.79sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1794425954.26729155 seconds ×3 + 2.79sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 2.79sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 2.79sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 2.79sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 2.89sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.89sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.89sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.89sINFOcontroller_managerSuccessfully switched controllers! ×3 + 2.89sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.89sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 2.90sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.90sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.90sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.42sINFOobjective_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: ""
+ 3.42sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.42sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.42sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.42sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.42sINFOobjective_server_nodecaller: ×2 + 3.42sINFOobjective_server_nodetype: 0 ×2 + 3.42sINFOobjective_server_nodename: "" ×2 + 3.42sINFOobjective_server_nodeinstance_id: "" ×2 + 3.42sINFOobjective_server_node ×2 + 3.52sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1794425955.00107145 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.52sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.52sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.61sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.62sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.62sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.62sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.62sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.62sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.62sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.62sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.62sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.69sINFOobjective_server_nodeFound path in 0 iterations (3.09e-07 s). ×2 + 3.69sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.70sINFOros2_control_node[2026-11-11 19:39:15.174] [info] Received new action goal ×2 + 3.70sINFOros2_control_node[2026-11-11 19:39:15.174] [info] Accepted new action goal ×2 + 5.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.864723 ms (missed cycles : 3). + 5.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.864723 ms (missed cycles : 3).[0m ×2 + 6.62sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 6.62sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 6.62sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 6.89sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). ×2 + 6.89sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 6.89sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×2 + 6.90sINFOobjective_server_nodePath shortcutter: [X_______________X] ×2 + 6.90sINFOobjective_server_nodeFound path in 0 iterations (2.3e-07 s). ×2 + 6.96sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 6.98sINFOobjective_server_nodeFound path in 1 iterations (0.00211527 s). ×2 | ||||
| − skipped | Octomap Example | octomap_example.xml | 0.0s | 6 warnings · 2910 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×467 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×467 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×934 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×934 + 1.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.727079 ms (missed cycles : 2). + 1.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.727079 ms (missed cycles : 2).[0m ×2 + 2.79sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1794425954.26729155 seconds ×3 + 2.79sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 2.79sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 2.79sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 2.79sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 2.89sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.89sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.89sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.89sINFOcontroller_managerSuccessfully switched controllers! ×3 + 2.89sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.89sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 2.90sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.90sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.90sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.42sINFOobjective_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: ""
+ 3.42sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.42sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.42sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.42sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.42sINFOobjective_server_nodecaller: ×2 + 3.42sINFOobjective_server_nodetype: 0 ×2 + 3.42sINFOobjective_server_nodename: "" ×2 + 3.42sINFOobjective_server_nodeinstance_id: "" ×2 + 3.42sINFOobjective_server_node ×2 + 3.52sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1794425955.00107145 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.52sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.52sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.61sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.62sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.62sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.62sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.62sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.62sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.62sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.62sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.62sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.69sINFOobjective_server_nodeFound path in 0 iterations (3.09e-07 s). ×2 + 3.69sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.70sINFOros2_control_node[2026-11-11 19:39:15.174] [info] Received new action goal ×2 + 3.70sINFOros2_control_node[2026-11-11 19:39:15.174] [info] Accepted new action goal ×2 + 5.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.864723 ms (missed cycles : 3). + 5.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.864723 ms (missed cycles : 3).[0m ×2 + 6.62sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 6.62sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 6.62sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 6.89sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). ×2 + 6.89sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 6.89sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×2 + 6.90sINFOobjective_server_nodePath shortcutter: [X_______________X] ×2 + 6.90sINFOobjective_server_nodeFound path in 0 iterations (2.3e-07 s). ×2 + 6.96sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 6.98sINFOobjective_server_nodeFound path in 1 iterations (0.00211527 s). ×2 | ||||
| − skipped | Pick 1 Pill Bottle with SAM3 | pick_1_pill_bottle_with_sam3.xml | 0.0s | 6 warnings · 2910 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×467 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×467 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×934 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×934 + 1.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.727079 ms (missed cycles : 2). + 1.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.727079 ms (missed cycles : 2).[0m ×2 + 2.79sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1794425954.26729155 seconds ×3 + 2.79sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 2.79sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 2.79sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 2.79sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 2.89sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.89sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.89sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.89sINFOcontroller_managerSuccessfully switched controllers! ×3 + 2.89sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.89sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 2.90sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.90sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.90sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.42sINFOobjective_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: ""
+ 3.42sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.42sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.42sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.42sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.42sINFOobjective_server_nodecaller: ×2 + 3.42sINFOobjective_server_nodetype: 0 ×2 + 3.42sINFOobjective_server_nodename: "" ×2 + 3.42sINFOobjective_server_nodeinstance_id: "" ×2 + 3.42sINFOobjective_server_node ×2 + 3.52sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1794425955.00107145 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.52sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.52sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.61sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.62sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.62sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.62sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.62sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.62sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.62sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.62sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.62sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.69sINFOobjective_server_nodeFound path in 0 iterations (3.09e-07 s). ×2 + 3.69sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.70sINFOros2_control_node[2026-11-11 19:39:15.174] [info] Received new action goal ×2 + 3.70sINFOros2_control_node[2026-11-11 19:39:15.174] [info] Accepted new action goal ×2 + 5.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.864723 ms (missed cycles : 3). + 5.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.864723 ms (missed cycles : 3).[0m ×2 + 6.62sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 6.62sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 6.62sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 6.89sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). ×2 + 6.89sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 6.89sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×2 + 6.90sINFOobjective_server_nodePath shortcutter: [X_______________X] ×2 + 6.90sINFOobjective_server_nodeFound path in 0 iterations (2.3e-07 s). ×2 + 6.96sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 6.98sINFOobjective_server_nodeFound path in 1 iterations (0.00211527 s). ×2 | ||||
| − skipped | Pick All Bottles with AprilTags | pick_all_bottles_with_apriltags.xml | 0.0s | 6 warnings · 2910 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×467 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×467 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×934 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×934 + 1.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.727079 ms (missed cycles : 2). + 1.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.727079 ms (missed cycles : 2).[0m ×2 + 2.79sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1794425954.26729155 seconds ×3 + 2.79sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 2.79sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 2.79sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 2.79sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 2.89sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.89sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.89sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.89sINFOcontroller_managerSuccessfully switched controllers! ×3 + 2.89sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.89sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 2.90sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.90sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.90sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.42sINFOobjective_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: ""
+ 3.42sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.42sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.42sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.42sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.42sINFOobjective_server_nodecaller: ×2 + 3.42sINFOobjective_server_nodetype: 0 ×2 + 3.42sINFOobjective_server_nodename: "" ×2 + 3.42sINFOobjective_server_nodeinstance_id: "" ×2 + 3.42sINFOobjective_server_node ×2 + 3.52sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1794425955.00107145 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.52sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.52sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.61sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.62sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.62sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.62sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.62sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.62sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.62sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.62sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.62sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.69sINFOobjective_server_nodeFound path in 0 iterations (3.09e-07 s). ×2 + 3.69sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.70sINFOros2_control_node[2026-11-11 19:39:15.174] [info] Received new action goal ×2 + 3.70sINFOros2_control_node[2026-11-11 19:39:15.174] [info] Accepted new action goal ×2 + 5.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.864723 ms (missed cycles : 3). + 5.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.864723 ms (missed cycles : 3).[0m ×2 + 6.62sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 6.62sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 6.62sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 6.89sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). ×2 + 6.89sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 6.89sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×2 + 6.90sINFOobjective_server_nodePath shortcutter: [X_______________X] ×2 + 6.90sINFOobjective_server_nodeFound path in 0 iterations (2.3e-07 s). ×2 + 6.96sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 6.98sINFOobjective_server_nodeFound path in 1 iterations (0.00211527 s). ×2 | ||||
| − skipped | Pick All Pill Bottles | pick_all_pill_bottles.xml | 0.0s | 6 warnings · 2910 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×467 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×467 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×934 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×934 + 1.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.727079 ms (missed cycles : 2). + 1.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.727079 ms (missed cycles : 2).[0m ×2 + 2.79sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1794425954.26729155 seconds ×3 + 2.79sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 2.79sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 2.79sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 2.79sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 2.89sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.89sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.89sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.89sINFOcontroller_managerSuccessfully switched controllers! ×3 + 2.89sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.89sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 2.90sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.90sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.90sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.42sINFOobjective_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: ""
+ 3.42sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.42sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.42sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.42sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.42sINFOobjective_server_nodecaller: ×2 + 3.42sINFOobjective_server_nodetype: 0 ×2 + 3.42sINFOobjective_server_nodename: "" ×2 + 3.42sINFOobjective_server_nodeinstance_id: "" ×2 + 3.42sINFOobjective_server_node ×2 + 3.52sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1794425955.00107145 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.52sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.52sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.61sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.62sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.62sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.62sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.62sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.62sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.62sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.62sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.62sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.69sINFOobjective_server_nodeFound path in 0 iterations (3.09e-07 s). ×2 + 3.69sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.70sINFOros2_control_node[2026-11-11 19:39:15.174] [info] Received new action goal ×2 + 3.70sINFOros2_control_node[2026-11-11 19:39:15.174] [info] Accepted new action goal ×2 + 5.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.864723 ms (missed cycles : 3). + 5.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.864723 ms (missed cycles : 3).[0m ×2 + 6.62sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 6.62sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 6.62sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 6.89sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). ×2 + 6.89sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 6.89sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×2 + 6.90sINFOobjective_server_nodePath shortcutter: [X_______________X] ×2 + 6.90sINFOobjective_server_nodeFound path in 0 iterations (2.3e-07 s). ×2 + 6.96sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 6.98sINFOobjective_server_nodeFound path in 1 iterations (0.00211527 s). ×2 | ||||
| − skipped | Pick from AprilTag Detections | pick_from_apriltag_detections.xml | 0.0s | 64 info |
+ 0.00sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1794425963.84127665 seconds ×3 + 1.66sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 1.66sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 1.66sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 1.66sINFOcontroller_managerSuccessfully switched controllers! ×2 + 1.66sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 1.66sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 1.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 1.67sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 1.67sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 1.67sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 1.67sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 1.67sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.19sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.19sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 2.19sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.19sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.19sINFOobjective_server_nodecaller: ×2 + 2.19sINFOobjective_server_nodetype: 0 ×2 + 2.19sINFOobjective_server_nodename: "" ×2 + 2.19sINFOobjective_server_nodeinstance_id: "" ×2 + 2.19sINFOobjective_server_node ×2 + 2.27sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1794425966.11365533 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.34sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 2.42sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 2.42sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 2.43sINFOros2_control_node[2026-11-11 19:39:26.267] [info] Received new action goal ×2 + 2.43sINFOros2_control_node[2026-11-11 19:39:26.267] [info] Accepted new action goal ×2 + 4.34sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − skipped | Pick from Pose | pick_from_pose.xml | 0.0s | 64 info |
+ 0.00sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1794425963.84127665 seconds ×3 + 1.66sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 1.66sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 1.66sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 1.66sINFOcontroller_managerSuccessfully switched controllers! ×2 + 1.66sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 1.66sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 1.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 1.67sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 1.67sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 1.67sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 1.67sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 1.67sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.19sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.19sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 2.19sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.19sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.19sINFOobjective_server_nodecaller: ×2 + 2.19sINFOobjective_server_nodetype: 0 ×2 + 2.19sINFOobjective_server_nodename: "" ×2 + 2.19sINFOobjective_server_nodeinstance_id: "" ×2 + 2.19sINFOobjective_server_node ×2 + 2.27sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1794425966.11365533 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.34sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 2.42sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 2.42sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 2.43sINFOros2_control_node[2026-11-11 19:39:26.267] [info] Received new action goal ×2 + 2.43sINFOros2_control_node[2026-11-11 19:39:26.267] [info] Accepted new action goal ×2 + 4.34sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − skipped | Pick from Pose Vector | pick_from_pose_vector.xml | 0.0s | 64 info |
+ 0.00sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1794425963.84127665 seconds ×3 + 1.66sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 1.66sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 1.66sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 1.66sINFOcontroller_managerSuccessfully switched controllers! ×2 + 1.66sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 1.66sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 1.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 1.67sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 1.67sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 1.67sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 1.67sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 1.67sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.19sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.19sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 2.19sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.19sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.19sINFOobjective_server_nodecaller: ×2 + 2.19sINFOobjective_server_nodetype: 0 ×2 + 2.19sINFOobjective_server_nodename: "" ×2 + 2.19sINFOobjective_server_nodeinstance_id: "" ×2 + 2.19sINFOobjective_server_node ×2 + 2.27sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1794425966.11365533 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.34sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 2.42sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 2.42sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 2.43sINFOros2_control_node[2026-11-11 19:39:26.267] [info] Received new action goal ×2 + 2.43sINFOros2_control_node[2026-11-11 19:39:26.267] [info] Accepted new action goal ×2 + 4.34sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − skipped | Pick from Pose With Approval | pick_from_pose_with_approval.xml | 0.0s | 64 info |
+ 0.00sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1794425963.84127665 seconds ×3 + 1.66sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 1.66sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 1.66sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 1.66sINFOcontroller_managerSuccessfully switched controllers! ×2 + 1.66sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 1.66sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 1.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 1.67sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 1.67sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 1.67sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 1.67sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 1.67sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.19sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.19sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 2.19sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.19sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.19sINFOobjective_server_nodecaller: ×2 + 2.19sINFOobjective_server_nodetype: 0 ×2 + 2.19sINFOobjective_server_nodename: "" ×2 + 2.19sINFOobjective_server_nodeinstance_id: "" ×2 + 2.19sINFOobjective_server_node ×2 + 2.27sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1794425966.11365533 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.34sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 2.42sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 2.42sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 2.43sINFOros2_control_node[2026-11-11 19:39:26.267] [info] Received new action goal ×2 + 2.43sINFOros2_control_node[2026-11-11 19:39:26.267] [info] Accepted new action goal ×2 + 4.34sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − skipped | Pick up Object | pick_up_cube.xml | 0.0s | 64 info |
+ 0.00sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1794425963.84127665 seconds ×3 + 1.66sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 1.66sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 1.66sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 1.66sINFOcontroller_managerSuccessfully switched controllers! ×2 + 1.66sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 1.66sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 1.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 1.67sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 1.67sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 1.67sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 1.67sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 1.67sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.19sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.19sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 2.19sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.19sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.19sINFOobjective_server_nodecaller: ×2 + 2.19sINFOobjective_server_nodetype: 0 ×2 + 2.19sINFOobjective_server_nodename: "" ×2 + 2.19sINFOobjective_server_nodeinstance_id: "" ×2 + 2.19sINFOobjective_server_node ×2 + 2.27sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1794425966.11365533 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.34sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 2.42sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 2.42sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 2.43sINFOros2_control_node[2026-11-11 19:39:26.267] [info] Received new action goal ×2 + 2.43sINFOros2_control_node[2026-11-11 19:39:26.267] [info] Accepted new action goal ×2 + 4.34sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − skipped | Place at Pose | place_at_pose.xml | 0.0s | 64 info |
+ 0.00sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1794425963.84127665 seconds ×3 + 1.66sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 1.66sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 1.66sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 1.66sINFOcontroller_managerSuccessfully switched controllers! ×2 + 1.66sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 1.66sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 1.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 1.67sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 1.67sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 1.67sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 1.67sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 1.67sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.19sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.19sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 2.19sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.19sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.19sINFOobjective_server_nodecaller: ×2 + 2.19sINFOobjective_server_nodetype: 0 ×2 + 2.19sINFOobjective_server_nodename: "" ×2 + 2.19sINFOobjective_server_nodeinstance_id: "" ×2 + 2.19sINFOobjective_server_node ×2 + 2.27sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1794425966.11365533 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.34sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 2.42sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 2.42sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 2.43sINFOros2_control_node[2026-11-11 19:39:26.267] [info] Received new action goal ×2 + 2.43sINFOros2_control_node[2026-11-11 19:39:26.267] [info] Accepted new action goal ×2 + 4.34sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − skipped | Place at Pose Vector | place_at_pose_vector.xml | 0.0s | 64 info |
+ 0.00sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1794425963.84127665 seconds ×3 + 1.66sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 1.66sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 1.66sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 1.66sINFOcontroller_managerSuccessfully switched controllers! ×2 + 1.66sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 1.66sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 1.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 1.67sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 1.67sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 1.67sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 1.67sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 1.67sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.19sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.19sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 2.19sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.19sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.19sINFOobjective_server_nodecaller: ×2 + 2.19sINFOobjective_server_nodetype: 0 ×2 + 2.19sINFOobjective_server_nodename: "" ×2 + 2.19sINFOobjective_server_nodeinstance_id: "" ×2 + 2.19sINFOobjective_server_node ×2 + 2.27sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1794425966.11365533 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.34sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 2.42sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 2.42sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 2.43sINFOros2_control_node[2026-11-11 19:39:26.267] [info] Received new action goal ×2 + 2.43sINFOros2_control_node[2026-11-11 19:39:26.267] [info] Accepted new action goal ×2 + 4.34sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − skipped | Place at Pose with Approval | place_at_pose_with_approval.xml | 0.0s | 64 info |
+ 0.00sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1794425963.84127665 seconds ×3 + 1.66sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 1.66sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 1.66sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 1.66sINFOcontroller_managerSuccessfully switched controllers! ×2 + 1.66sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 1.66sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 1.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 1.67sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 1.67sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 1.67sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 1.67sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 1.67sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.19sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.19sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 2.19sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.19sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.19sINFOobjective_server_nodecaller: ×2 + 2.19sINFOobjective_server_nodetype: 0 ×2 + 2.19sINFOobjective_server_nodename: "" ×2 + 2.19sINFOobjective_server_nodeinstance_id: "" ×2 + 2.19sINFOobjective_server_node ×2 + 2.27sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1794425966.11365533 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.34sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 2.42sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 2.42sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 2.43sINFOros2_control_node[2026-11-11 19:39:26.267] [info] Received new action goal ×2 + 2.43sINFOros2_control_node[2026-11-11 19:39:26.267] [info] Accepted new action goal ×2 + 4.34sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − skipped | Place Object | place_object.xml | 0.0s | 64 info |
+ 0.00sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1794425963.84127665 seconds ×3 + 1.66sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 1.66sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 1.66sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 1.66sINFOcontroller_managerSuccessfully switched controllers! ×2 + 1.66sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 1.66sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 1.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 1.67sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 1.67sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 1.67sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 1.67sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 1.67sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.19sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.19sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 2.19sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.19sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.19sINFOobjective_server_nodecaller: ×2 + 2.19sINFOobjective_server_nodetype: 0 ×2 + 2.19sINFOobjective_server_nodename: "" ×2 + 2.19sINFOobjective_server_nodeinstance_id: "" ×2 + 2.19sINFOobjective_server_node ×2 + 2.27sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1794425966.11365533 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.34sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 2.42sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 2.42sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 2.43sINFOros2_control_node[2026-11-11 19:39:26.267] [info] Received new action goal ×2 + 2.43sINFOros2_control_node[2026-11-11 19:39:26.267] [info] Accepted new action goal ×2 + 4.34sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − skipped | Plan Move To Pose | plan_move_to_pose.xml | 0.0s | 3 errors · 61 info |
+ 0.00sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan and Save Trajectory` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1794425976.47427511 seconds ×3 + 0.02sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 0.02sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 0.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 0.02sINFOcontroller_managerSuccessfully switched controllers! ×2 + 0.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 0.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 0.05sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 0.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 0.05sINFOcontroller_managerActivating controllers: [ 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 + 0.62sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1794425977.08367062 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.74sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 0.82sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 0.82sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 0.84sINFOros2_control_node[2026-11-11 19:39:37.300] [info] Received new action goal ×2 + 0.84sINFOros2_control_node[2026-11-11 19:39:37.300] [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: 1794425986.90437794 seconds ×3 + 0.01sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 0.01sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 0.01sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×2 + 0.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 0.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 0.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 0.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 0.02sINFOcontroller_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 + 0.60sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1794425987.50019526 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.62sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 0.69sINFOobjective_server_nodeFound path in 0 iterations (4.8e-07 s). ×2 + 0.69sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 0.70sINFOros2_control_node[2026-11-11 19:39:47.603] [info] Received new action goal ×2 + 0.70sINFOros2_control_node[2026-11-11 19:39:47.603] [info] Accepted new action goal ×2 + 2.61sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − skipped | Reflect Poses Subtree | reflect_poses_subtree.xml | 0.0s | 3 warnings · 193 info |
+ 0.00sINFOobjective_server_nodeObjective `Record Surface Coverage Demo` succeeded at time: 1794426041.02230239 seconds ×3 + 0.10sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.10sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.10sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 0.10sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.10sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 0.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.11sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.11sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.63sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.63sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 0.63sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 0.63sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 0.63sINFOobjective_server_nodeparameter_overrides: [] ×6 + 0.63sINFOobjective_server_nodecaller: ×6 + 0.63sINFOobjective_server_nodetype: 0 ×6 + 0.63sINFOobjective_server_nodename: "" ×6 + 0.63sINFOobjective_server_nodeinstance_id: "" ×6 + 0.63sINFOobjective_server_node ×6 + 0.83sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1794426041.85117364 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.86sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 0.86sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 0.88sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 0.88sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 0.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.845924 ms (missed cycles : 2). + 0.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.845924 ms (missed cycles : 2).[0m ×2 + 0.90sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1794426041.92140436 seconds ×3 + 1.44sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.44sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 1.48sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1794426042.50277996 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.50sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 1.50sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1794426042.52414560 seconds ×3 + 2.09sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.09sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 2.16sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1794426043.17847824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.17sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 2.24sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). ×2 + 2.24sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 2.25sINFOros2_control_node[2026-11-11 19:40:43.272] [info] Received new action goal ×2 + 2.25sINFOros2_control_node[2026-11-11 19:40:43.272] [info] Accepted new action goal ×2 + 2.72sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 | ||||
| − skipped | Register CAD Part | register_cad_part.xml | 0.0s | 3 warnings · 193 info |
+ 0.00sINFOobjective_server_nodeObjective `Record Surface Coverage Demo` succeeded at time: 1794426041.02230239 seconds ×3 + 0.10sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.10sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.10sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 0.10sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.10sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 0.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.11sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.11sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.63sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.63sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 0.63sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 0.63sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 0.63sINFOobjective_server_nodeparameter_overrides: [] ×6 + 0.63sINFOobjective_server_nodecaller: ×6 + 0.63sINFOobjective_server_nodetype: 0 ×6 + 0.63sINFOobjective_server_nodename: "" ×6 + 0.63sINFOobjective_server_nodeinstance_id: "" ×6 + 0.63sINFOobjective_server_node ×6 + 0.83sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1794426041.85117364 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.86sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 0.86sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 0.88sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 0.88sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 0.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.845924 ms (missed cycles : 2). + 0.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.845924 ms (missed cycles : 2).[0m ×2 + 0.90sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1794426041.92140436 seconds ×3 + 1.44sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.44sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 1.48sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1794426042.50277996 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.50sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 1.50sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1794426042.52414560 seconds ×3 + 2.09sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.09sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 2.16sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1794426043.17847824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.17sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 2.24sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). ×2 + 2.24sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 2.25sINFOros2_control_node[2026-11-11 19:40:43.272] [info] Received new action goal ×2 + 2.25sINFOros2_control_node[2026-11-11 19:40:43.272] [info] Accepted new action goal ×2 + 2.72sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 | ||||
| − skipped | Scan Scene - Multiple Point Clouds | scan_scene_-_multiple_point_clouds.xml | 0.0s | 3 warnings · 193 info |
+ 0.00sINFOobjective_server_nodeObjective `Record Surface Coverage Demo` succeeded at time: 1794426041.02230239 seconds ×3 + 0.10sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.10sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.10sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 0.10sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.10sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 0.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.11sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.11sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.63sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.63sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 0.63sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 0.63sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 0.63sINFOobjective_server_nodeparameter_overrides: [] ×6 + 0.63sINFOobjective_server_nodecaller: ×6 + 0.63sINFOobjective_server_nodetype: 0 ×6 + 0.63sINFOobjective_server_nodename: "" ×6 + 0.63sINFOobjective_server_nodeinstance_id: "" ×6 + 0.63sINFOobjective_server_node ×6 + 0.83sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1794426041.85117364 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.86sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 0.86sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 0.88sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 0.88sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 0.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.845924 ms (missed cycles : 2). + 0.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.845924 ms (missed cycles : 2).[0m ×2 + 0.90sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1794426041.92140436 seconds ×3 + 1.44sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.44sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 1.48sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1794426042.50277996 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.50sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 1.50sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1794426042.52414560 seconds ×3 + 2.09sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.09sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 2.16sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1794426043.17847824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.17sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 2.24sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). ×2 + 2.24sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 2.25sINFOros2_control_node[2026-11-11 19:40:43.272] [info] Received new action goal ×2 + 2.25sINFOros2_control_node[2026-11-11 19:40:43.272] [info] Accepted new action goal ×2 + 2.72sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 | ||||
| − skipped | Segment Bottle Subtree | segment_bottle_subtree.xml | 0.0s | 3 warnings · 193 info |
+ 0.00sINFOobjective_server_nodeObjective `Record Surface Coverage Demo` succeeded at time: 1794426041.02230239 seconds ×3 + 0.10sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.10sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.10sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 0.10sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.10sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 0.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.11sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.11sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.63sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.63sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 0.63sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 0.63sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 0.63sINFOobjective_server_nodeparameter_overrides: [] ×6 + 0.63sINFOobjective_server_nodecaller: ×6 + 0.63sINFOobjective_server_nodetype: 0 ×6 + 0.63sINFOobjective_server_nodename: "" ×6 + 0.63sINFOobjective_server_nodeinstance_id: "" ×6 + 0.63sINFOobjective_server_node ×6 + 0.83sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1794426041.85117364 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.86sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 0.86sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 0.88sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 0.88sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 0.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.845924 ms (missed cycles : 2). + 0.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.845924 ms (missed cycles : 2).[0m ×2 + 0.90sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1794426041.92140436 seconds ×3 + 1.44sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.44sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 1.48sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1794426042.50277996 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.50sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 1.50sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1794426042.52414560 seconds ×3 + 2.09sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.09sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 2.16sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1794426043.17847824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.17sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 2.24sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). ×2 + 2.24sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 2.25sINFOros2_control_node[2026-11-11 19:40:43.272] [info] Received new action goal ×2 + 2.25sINFOros2_control_node[2026-11-11 19:40:43.272] [info] Accepted new action goal ×2 + 2.72sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 | ||||
| − skipped | Select Region and Record Coverage | select_region_and_record_coverage.xml | 0.0s | 3 warnings · 193 info |
+ 0.00sINFOobjective_server_nodeObjective `Record Surface Coverage Demo` succeeded at time: 1794426041.02230239 seconds ×3 + 0.10sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.10sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.10sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 0.10sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.10sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 0.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.11sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.11sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.63sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.63sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 0.63sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 0.63sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 0.63sINFOobjective_server_nodeparameter_overrides: [] ×6 + 0.63sINFOobjective_server_nodecaller: ×6 + 0.63sINFOobjective_server_nodetype: 0 ×6 + 0.63sINFOobjective_server_nodename: "" ×6 + 0.63sINFOobjective_server_nodeinstance_id: "" ×6 + 0.63sINFOobjective_server_node ×6 + 0.83sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1794426041.85117364 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.86sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 0.86sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 0.88sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 0.88sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 0.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.845924 ms (missed cycles : 2). + 0.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.845924 ms (missed cycles : 2).[0m ×2 + 0.90sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1794426041.92140436 seconds ×3 + 1.44sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.44sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 1.48sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1794426042.50277996 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.50sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 1.50sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1794426042.52414560 seconds ×3 + 2.09sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.09sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 2.16sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1794426043.17847824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.17sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 2.24sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). ×2 + 2.24sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 2.25sINFOros2_control_node[2026-11-11 19:40:43.272] [info] Received new action goal ×2 + 2.25sINFOros2_control_node[2026-11-11 19:40:43.272] [info] Accepted new action goal ×2 + 2.72sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 | ||||
| − skipped | Select Region for Coverage Path | select_region_for_coverage_path.xml | 0.0s | 3 warnings · 193 info |
+ 0.00sINFOobjective_server_nodeObjective `Record Surface Coverage Demo` succeeded at time: 1794426041.02230239 seconds ×3 + 0.10sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.10sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.10sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 0.10sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.10sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 0.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.11sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.11sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.63sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.63sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 0.63sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 0.63sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 0.63sINFOobjective_server_nodeparameter_overrides: [] ×6 + 0.63sINFOobjective_server_nodecaller: ×6 + 0.63sINFOobjective_server_nodetype: 0 ×6 + 0.63sINFOobjective_server_nodename: "" ×6 + 0.63sINFOobjective_server_nodeinstance_id: "" ×6 + 0.63sINFOobjective_server_node ×6 + 0.83sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1794426041.85117364 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.86sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 0.86sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 0.88sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 0.88sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 0.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.845924 ms (missed cycles : 2). + 0.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.845924 ms (missed cycles : 2).[0m ×2 + 0.90sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1794426041.92140436 seconds ×3 + 1.44sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.44sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 1.48sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1794426042.50277996 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.50sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 1.50sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1794426042.52414560 seconds ×3 + 2.09sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.09sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 2.16sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1794426043.17847824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.17sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 2.24sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). ×2 + 2.24sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 2.25sINFOros2_control_node[2026-11-11 19:40:43.272] [info] Received new action goal ×2 + 2.25sINFOros2_control_node[2026-11-11 19:40:43.272] [info] Accepted new action goal ×2 + 2.72sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 | ||||
| − skipped | Stitch Multiple Point Clouds Together | stitch_multiple_point_clouds_together.xml | 0.0s | 3 errors · 12 warnings · 210 info |
+ 0.00sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.00sINFOros2_control_node[2026-11-11 19:40:53.468] [info] Got request to cancel active goal. ×2 + 0.00sINFOros2_control_node[2026-11-11 19:40:53.468] [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: 1794426053.47299886 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 + 0.59sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1794426054.05368376 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.105547 ms (missed cycles : 2). + 0.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.105547 ms (missed cycles : 2).[0m ×2 + 1.34sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1794426054.80387449 seconds ×3 + 1.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.331928 ms (missed cycles : 3). + 1.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.331928 ms (missed cycles : 3).[0m ×2 + 1.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.88sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 1.93sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1794426055.39059782 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.93sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 1.93sINFOobjective_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 + 1.93sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 1.93sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1794426055.39269638 seconds ×3 + 2.46sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.46sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 2.51sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1794426055.97002625 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.54sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1794426056.00082445 seconds ×3 + 3.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.07sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 3.12sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1794426056.58547878 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.805690 ms (missed cycles : 4). + 3.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.805690 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Take Wrist Camera Image | take_picture_with_wrist_camera.xml | 0.0s | 3 errors · 12 warnings · 210 info |
+ 0.00sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.00sINFOros2_control_node[2026-11-11 19:40:53.468] [info] Got request to cancel active goal. ×2 + 0.00sINFOros2_control_node[2026-11-11 19:40:53.468] [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: 1794426053.47299886 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 + 0.59sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1794426054.05368376 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.105547 ms (missed cycles : 2). + 0.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.105547 ms (missed cycles : 2).[0m ×2 + 1.34sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1794426054.80387449 seconds ×3 + 1.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.331928 ms (missed cycles : 3). + 1.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.331928 ms (missed cycles : 3).[0m ×2 + 1.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.88sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 1.93sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1794426055.39059782 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.93sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 1.93sINFOobjective_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 + 1.93sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 1.93sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1794426055.39269638 seconds ×3 + 2.46sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.46sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 2.51sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1794426055.97002625 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.54sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1794426056.00082445 seconds ×3 + 3.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.07sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 3.12sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1794426056.58547878 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.805690 ms (missed cycles : 4). + 3.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.805690 ms (missed cycles : 4).[0m ×2 | ||||
▾
/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/picknik_ur_base_config/share/picknik_ur_base_config/objectives7 skip
| − skipped | — | create_point_cloud_vector_from_masks.xml | 0.0s | 3 warnings · 322 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1794425742.55501580 seconds ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.03sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 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: ×10 + 0.56sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.56sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.56sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.56sINFOobjective_server_nodecaller: ×10 + 0.56sINFOobjective_server_nodetype: 0 ×10 + 0.56sINFOobjective_server_nodename: "" ×10 + 0.56sINFOobjective_server_nodeinstance_id: "" ×10 + 0.56sINFOobjective_server_node ×10 + 0.60sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1794425743.15414762 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.60sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.60sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.66sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1794425743.21432042 seconds ×3 + 1.19sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.26sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.31sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1794425743.86065555 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.33sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1794425743.88081050 seconds ×3 + 1.86sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.86sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.90sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1794425744.45488238 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1794425744.60535216 seconds ×3 + 2.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.68sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1794425745.27287245 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.74sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.104188 ms (missed cycles : 2). + 2.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.104188 ms (missed cycles : 2).[0m ×2 + 2.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1794425745.32304239 seconds ×3 + 3.40sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.40sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.48sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1794425746.03538156 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.49sINFOobjective_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 + 3.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.49sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.49sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.50sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.50sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.57sINFOobjective_server_nodeFound path in 0 iterations (1.5841e-05 s). ×2 + 3.58sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.59sINFOros2_control_node[2026-11-11 19:35:46.141] [info] Received new action goal ×2 + 3.59sINFOros2_control_node[2026-11-11 19:35:46.141] [info] Accepted new action goal ×2 + 5.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.05sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). ×2 + 6.06sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.07sINFOros2_control_node[2026-11-11 19:35:48.629] [info] Received new action goal ×2 + 6.08sINFOros2_control_node[2026-11-11 19:35:48.629] [info] Accepted new action goal ×2 | ||||
| − skipped | — | segment_image_from_no_negative_text_prompt_subtree.xml | 0.0s | 3 warnings · 322 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1794425742.55501580 seconds ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.03sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 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: ×10 + 0.56sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.56sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.56sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.56sINFOobjective_server_nodecaller: ×10 + 0.56sINFOobjective_server_nodetype: 0 ×10 + 0.56sINFOobjective_server_nodename: "" ×10 + 0.56sINFOobjective_server_nodeinstance_id: "" ×10 + 0.56sINFOobjective_server_node ×10 + 0.60sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1794425743.15414762 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.60sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.60sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.66sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1794425743.21432042 seconds ×3 + 1.19sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.26sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.31sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1794425743.86065555 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.33sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1794425743.88081050 seconds ×3 + 1.86sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.86sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.90sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1794425744.45488238 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1794425744.60535216 seconds ×3 + 2.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.68sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1794425745.27287245 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.74sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.104188 ms (missed cycles : 2). + 2.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.104188 ms (missed cycles : 2).[0m ×2 + 2.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1794425745.32304239 seconds ×3 + 3.40sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.40sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.48sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1794425746.03538156 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.49sINFOobjective_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 + 3.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.49sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.49sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.50sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.50sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.57sINFOobjective_server_nodeFound path in 0 iterations (1.5841e-05 s). ×2 + 3.58sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.59sINFOros2_control_node[2026-11-11 19:35:46.141] [info] Received new action goal ×2 + 3.59sINFOros2_control_node[2026-11-11 19:35:46.141] [info] Accepted new action goal ×2 + 5.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.05sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). ×2 + 6.06sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.07sINFOros2_control_node[2026-11-11 19:35:48.629] [info] Received new action goal ×2 + 6.08sINFOros2_control_node[2026-11-11 19:35:48.629] [info] Accepted new action goal ×2 | ||||
| − skipped | — | segment_image_from_point_subtree.xml | 0.0s | 3 warnings · 322 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1794425742.55501580 seconds ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.03sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 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: ×10 + 0.56sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.56sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.56sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.56sINFOobjective_server_nodecaller: ×10 + 0.56sINFOobjective_server_nodetype: 0 ×10 + 0.56sINFOobjective_server_nodename: "" ×10 + 0.56sINFOobjective_server_nodeinstance_id: "" ×10 + 0.56sINFOobjective_server_node ×10 + 0.60sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1794425743.15414762 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.60sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.60sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.66sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1794425743.21432042 seconds ×3 + 1.19sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.26sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.31sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1794425743.86065555 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.33sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1794425743.88081050 seconds ×3 + 1.86sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.86sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.90sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1794425744.45488238 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1794425744.60535216 seconds ×3 + 2.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.68sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1794425745.27287245 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.74sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.104188 ms (missed cycles : 2). + 2.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.104188 ms (missed cycles : 2).[0m ×2 + 2.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1794425745.32304239 seconds ×3 + 3.40sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.40sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.48sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1794425746.03538156 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.49sINFOobjective_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 + 3.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.49sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.49sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.50sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.50sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.57sINFOobjective_server_nodeFound path in 0 iterations (1.5841e-05 s). ×2 + 3.58sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.59sINFOros2_control_node[2026-11-11 19:35:46.141] [info] Received new action goal ×2 + 3.59sINFOros2_control_node[2026-11-11 19:35:46.141] [info] Accepted new action goal ×2 + 5.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.05sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). ×2 + 6.06sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.07sINFOros2_control_node[2026-11-11 19:35:48.629] [info] Received new action goal ×2 + 6.08sINFOros2_control_node[2026-11-11 19:35:48.629] [info] Accepted new action goal ×2 | ||||
| − skipped | — | segment_image_from_text_prompt_subtree.xml | 0.0s | 3 warnings · 322 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1794425742.55501580 seconds ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.03sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 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: ×10 + 0.56sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.56sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.56sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.56sINFOobjective_server_nodecaller: ×10 + 0.56sINFOobjective_server_nodetype: 0 ×10 + 0.56sINFOobjective_server_nodename: "" ×10 + 0.56sINFOobjective_server_nodeinstance_id: "" ×10 + 0.56sINFOobjective_server_node ×10 + 0.60sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1794425743.15414762 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.60sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.60sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.66sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1794425743.21432042 seconds ×3 + 1.19sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.26sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.31sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1794425743.86065555 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.33sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1794425743.88081050 seconds ×3 + 1.86sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.86sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.90sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1794425744.45488238 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1794425744.60535216 seconds ×3 + 2.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.68sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1794425745.27287245 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.74sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.104188 ms (missed cycles : 2). + 2.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.104188 ms (missed cycles : 2).[0m ×2 + 2.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1794425745.32304239 seconds ×3 + 3.40sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.40sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.48sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1794425746.03538156 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.49sINFOobjective_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 + 3.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.49sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.49sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.50sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.50sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.57sINFOobjective_server_nodeFound path in 0 iterations (1.5841e-05 s). ×2 + 3.58sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.59sINFOros2_control_node[2026-11-11 19:35:46.141] [info] Received new action goal ×2 + 3.59sINFOros2_control_node[2026-11-11 19:35:46.141] [info] Accepted new action goal ×2 + 5.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.05sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). ×2 + 6.06sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.07sINFOros2_control_node[2026-11-11 19:35:48.629] [info] Received new action goal ×2 + 6.08sINFOros2_control_node[2026-11-11 19:35:48.629] [info] Accepted new action goal ×2 | ||||
| − skipped | — | segment_point_cloud_from_clicked_point_subtree.xml | 0.0s | 3 warnings · 322 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1794425742.55501580 seconds ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.03sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 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: ×10 + 0.56sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.56sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.56sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.56sINFOobjective_server_nodecaller: ×10 + 0.56sINFOobjective_server_nodetype: 0 ×10 + 0.56sINFOobjective_server_nodename: "" ×10 + 0.56sINFOobjective_server_nodeinstance_id: "" ×10 + 0.56sINFOobjective_server_node ×10 + 0.60sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1794425743.15414762 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.60sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.60sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.66sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1794425743.21432042 seconds ×3 + 1.19sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.26sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.31sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1794425743.86065555 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.33sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1794425743.88081050 seconds ×3 + 1.86sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.86sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.90sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1794425744.45488238 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1794425744.60535216 seconds ×3 + 2.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.68sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1794425745.27287245 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.74sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.104188 ms (missed cycles : 2). + 2.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.104188 ms (missed cycles : 2).[0m ×2 + 2.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1794425745.32304239 seconds ×3 + 3.40sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.40sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.48sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1794425746.03538156 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.49sINFOobjective_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 + 3.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.49sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.49sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.50sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.50sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.57sINFOobjective_server_nodeFound path in 0 iterations (1.5841e-05 s). ×2 + 3.58sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.59sINFOros2_control_node[2026-11-11 19:35:46.141] [info] Received new action goal ×2 + 3.59sINFOros2_control_node[2026-11-11 19:35:46.141] [info] Accepted new action goal ×2 + 5.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.05sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). ×2 + 6.06sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.07sINFOros2_control_node[2026-11-11 19:35:48.629] [info] Received new action goal ×2 + 6.08sINFOros2_control_node[2026-11-11 19:35:48.629] [info] Accepted new action goal ×2 | ||||
| − skipped | — | segment_point_cloud_from_text_prompt_subtree.xml | 0.0s | 3 warnings · 322 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1794425742.55501580 seconds ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.03sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 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: ×10 + 0.56sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.56sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.56sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.56sINFOobjective_server_nodecaller: ×10 + 0.56sINFOobjective_server_nodetype: 0 ×10 + 0.56sINFOobjective_server_nodename: "" ×10 + 0.56sINFOobjective_server_nodeinstance_id: "" ×10 + 0.56sINFOobjective_server_node ×10 + 0.60sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1794425743.15414762 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.60sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.60sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.66sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1794425743.21432042 seconds ×3 + 1.19sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.26sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.31sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1794425743.86065555 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.33sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1794425743.88081050 seconds ×3 + 1.86sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.86sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.90sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1794425744.45488238 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1794425744.60535216 seconds ×3 + 2.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.68sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1794425745.27287245 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.74sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.104188 ms (missed cycles : 2). + 2.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.104188 ms (missed cycles : 2).[0m ×2 + 2.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1794425745.32304239 seconds ×3 + 3.40sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.40sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.48sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1794425746.03538156 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.49sINFOobjective_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 + 3.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.49sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.49sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.50sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.50sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.57sINFOobjective_server_nodeFound path in 0 iterations (1.5841e-05 s). ×2 + 3.58sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.59sINFOros2_control_node[2026-11-11 19:35:46.141] [info] Received new action goal ×2 + 3.59sINFOros2_control_node[2026-11-11 19:35:46.141] [info] Accepted new action goal ×2 + 5.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.05sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). ×2 + 6.06sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.07sINFOros2_control_node[2026-11-11 19:35:48.629] [info] Received new action goal ×2 + 6.08sINFOros2_control_node[2026-11-11 19:35:48.629] [info] Accepted new action goal ×2 | ||||
| − skipped | — | visualize_segmented_point_cloud.xml | 0.0s | 3 warnings · 322 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1794425742.55501580 seconds ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.03sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 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: ×10 + 0.56sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.56sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.56sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.56sINFOobjective_server_nodecaller: ×10 + 0.56sINFOobjective_server_nodetype: 0 ×10 + 0.56sINFOobjective_server_nodename: "" ×10 + 0.56sINFOobjective_server_nodeinstance_id: "" ×10 + 0.56sINFOobjective_server_node ×10 + 0.60sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1794425743.15414762 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.60sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.60sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.66sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1794425743.21432042 seconds ×3 + 1.19sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.26sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.31sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1794425743.86065555 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.33sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1794425743.88081050 seconds ×3 + 1.86sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.86sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.90sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1794425744.45488238 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1794425744.60535216 seconds ×3 + 2.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.68sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1794425745.27287245 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.74sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.104188 ms (missed cycles : 2). + 2.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.104188 ms (missed cycles : 2).[0m ×2 + 2.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1794425745.32304239 seconds ×3 + 3.40sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.40sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.48sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1794425746.03538156 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.49sINFOobjective_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 + 3.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.49sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.49sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.50sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.50sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.57sINFOobjective_server_nodeFound path in 0 iterations (1.5841e-05 s). ×2 + 3.58sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.59sINFOros2_control_node[2026-11-11 19:35:46.141] [info] Received new action goal ×2 + 3.59sINFOros2_control_node[2026-11-11 19:35:46.141] [info] Accepted new action goal ×2 + 5.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.05sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). ×2 + 6.06sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.07sINFOros2_control_node[2026-11-11 19:35:48.629] [info] Received new action goal ×2 + 6.08sINFOros2_control_node[2026-11-11 19:35:48.629] [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 | 10.7s | 29 warnings · 830 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/2026-11-11-19-35-30-383112-160d9abcd6c4-8289 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 0.57sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 0.58sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 0.58sINFOcontroller_managerupdate rate is 600 Hz + 0.58sINFOcontroller_managerOverruns handling is : enabled + 0.58sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 0.59sWARNcontroller_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. + 0.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.178528 ms (missed cycles : 4). + 0.79sINFOros2_control_node-1process started with pid [8337] ×2 + 0.79sINFOplanning_scene_server-9process started with pid [8356] ×2 + 0.79sINFOparameter_manager_node-10process started with pid [8357] ×2 + 0.79sINFOwaypoint_manager_node-11process started with pid [8362] ×2 + 0.79sINFOmove_joint_resampler_node-12process started with pid [8365] ×2 + 0.79sINFOmove_end_effector_resampler_node-13process started with pid [8368] ×2 + 0.79sINFOobjective_server_node_main-14process started with pid [8371] ×2 + 0.79sINFOcomponent_container_mt-15process started with pid [8374] ×2 + 0.79sINFOcomponent_container_mt-16process started with pid [8379] ×2 + 0.79sINFOexecute_objective_bridge-17process started with pid [8396] ×2 + 0.79sINFOui_teleop_bridge-18process started with pid [8397] ×2 + 0.79sINFOweb_bridge-19process started with pid [8398] ×2 + 0.79sINFOtf_visualization_relay-20process started with pid [8471] ×2 + 0.79sINFOjoint_state_visualization_relay-21process started with pid [8472] ×2 + 0.79sINFOtf2_web_republisher_node-22process started with pid [8474] ×2 + 0.79sINFOvideo_server-23process started with pid [8475] ×2 + 0.79sINFOweb_bridge_auth_proxy-24process started with pid [8476] ×2 + 0.79sINFOweb_video_auth_proxy-25process started with pid [8477] ×2 + 0.79sINFOros2-2process started with pid [8338] ×2 + 0.79sINFOros2-3process started with pid [8339] ×2 + 0.79sINFOros2-4process started with pid [8340] ×2 + 0.79sINFOros2-5process started with pid [8341] ×2 + 0.79sINFOros2-6process started with pid [8342] ×2 + 0.79sINFOros2-7process started with pid [8343] ×2 + 0.79sINFOros2-8process started with pid [8344] ×2 + 0.81sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 0.81sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 0.81sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 0.81sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 0.81sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 0.81sWARNros2_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 + 0.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.178528 ms (missed cycles : 4).[0m ×2 + 0.88sINFOcontroller_managerReceived robot description from topic. + 0.88sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 0.89sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 0.89sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 0.89sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 0.90sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 0.90sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 0.90sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 1.00sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 1.01sINFOvideo_server2026/11/11 19:35:31 INF MediaMTX v1.20.1, linux, amd64 ×2 + 1.01sINFOvideo_server2026/11/11 19:35:31 INF configuration loaded from /tmp/moveit-webrtc-yxctmg65/mediamtx.yml ×2 + 1.02sINFOvideo_server2026/11/11 19:35:31 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 + 1.02sINFOvideo_server2026/11/11 19:35:31 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 + 1.21sINFOspawner_robotiq_gripper_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.21sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 1.50sINFOweb_video_auth_proxy2026-11-11 19:35:32,174 INFO moveit_studio_utils_py.tls: Generated MoveIt Pro self-signed TLS certificate at /github/home/.local/share/moveit_pro/tls/cert.pem ×2 + 1.50sINFOweb_video_auth_proxy2026-11-11 19:35:32,176 INFO auth_proxy: TLS auth proxy on 0.0.0.0:3202 -> 127.0.0.1:13202 ×2 + 1.50sINFOweb_bridge_auth_proxy2026-11-11 19:35:32,179 INFO auth_proxy: TLS auth proxy on 0.0.0.0:3201 -> 127.0.0.1:13201 ×2 + 1.52sINFOplanning_scene_server[2026-11-11 19:35:32.194] [moveit_pro_license] [info] ×2 + 1.52sINFOplanning_scene_server************************************************* ×4 + 1.52sINFOplanning_scene_server* MoveIt Pro License ×2 + 1.52sINFOplanning_scene_server* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 1.66sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 1.66sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 1.66sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 1.66sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 1.68sINFOros2_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 + 1.68sINFOros2_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 + 1.76sINFOplanning_scene_server ×4 + 1.76sINFOplanning_scene_server[92mYou can start planning now![0m ×2 + 1.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.248648 ms (missed cycles : 2). + 1.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.248648 ms (missed cycles : 2).[0m ×2 + 1.98sINFOwaypoint_manager_node[2026-11-11 19:35:32.655] [moveit_pro_license] [info] ×2 + 1.98sINFOwaypoint_manager_node************************************************* ×4 + 1.98sINFOwaypoint_manager_node* MoveIt Pro License ×2 + 1.98sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 2.05sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 2.67sINFOobjective_server_node[2026-11-11 19:35:33.342] [moveit_pro_license] [info] ×2 + 2.67sINFOobjective_server_node************************************************* ×4 + 2.67sINFOobjective_server_node* MoveIt Pro License ×2 + 2.67sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 2.71sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 2.73sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 2.77sINFOobjective_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 + 2.77sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 2.79sINFOobjective_server_nodeLoading 7 behavior loader plugin(s): ×2 + 2.79sINFOobjective_server_nodelab_sim_behaviors::LabSimBehaviorsLoader ×2 + 2.79sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 2.79sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 2.79sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 2.79sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 2.79sINFOobjective_server_nodemoveit_pro::behaviors::MPCBehaviorsLoader ×2 + 2.79sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 2.86sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 2.99sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/surface_coverage_accumulator' in container '/moveit_studio_point_cloud_container' ×2 + 3.04sWARNros2_control_nodeNo keyframe specified, applying first keyframe to set initial state.[0m ×2 + 3.04sINFOros2_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 + 3.04sWARNros2_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 + 3.04sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 3.04sINFOros2_control_nodebase: 0.0002 m, 3.1416 rad ×2 + 3.04sINFOros2_control_nodeshoulder_link: 0.0006 m, 3.1416 rad ×2 + 3.04sINFOros2_control_nodeupper_arm_link: 0.1380 m, 2.0944 rad ×2 + 3.04sINFOros2_control_nodeforearm_link: 0.0070 m, 2.0944 rad ×2 + 3.04sINFOros2_control_nodewrist_1_link: 0.1264 m, 1.5708 rad ×2 + 3.04sINFOros2_control_nodewrist_2_link: 0.1004 m, 0.0000 rad ×2 + 3.04sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 3.04sINFOros2_control_nodewrist_3_link: 0.1003 m, 1.5708 rad ×2 + 3.04sINFOros2_control_noderobotiq_85_base_link: 0.0073 m, 1.5708 rad ×2 + 3.04sINFOros2_control_noderobotiq_85_left_inner_knuckle_link: 0.0078 m, 1.5708 rad ×2 + 3.04sINFOros2_control_noderobotiq_85_left_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 3.04sINFOros2_control_noderobotiq_85_right_inner_knuckle_link: 0.0079 m, 1.5708 rad ×2 + 3.04sINFOros2_control_noderobotiq_85_right_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 3.04sINFOros2_control_noderobotiq_85_left_finger_link: 0.0076 m, 1.5708 rad ×2 + 3.04sINFOros2_control_noderobotiq_85_left_finger_tip_link: 0.1092 m, 2.0014 rad ×2 + 3.04sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 3.04sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 3.05sINFOros2_control_noderobotiq_85_right_finger_link: 0.0076 m, 1.5708 rad ×2 + 3.05sINFOros2_control_noderobotiq_85_right_finger_tip_link: 0.1096 m, 2.0014 rad[0m ×2 + 3.05sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 3.05sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 3.05sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 3.05sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 3.05sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 3.05sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 3.05sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 3.05sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 3.18sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 3.18sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 3.22sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 3.22sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 3.22sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 3.22sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 3.22sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_8devz559 --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_ukd0379r --params-file /tmp/launch_params_e4yo2idk + 3.22sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_8devz559 --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_ukd0379r --params-file /tmp/launch_params_e4yo2idk [0m ×2 + 3.23sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 3.23sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 3.24sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 3.24sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 3.24sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 3.24sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 3.24sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 3.24sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 3.24sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 3.24sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 3.25sINFOcontroller_managerSuccessfully switched controllers! ×20 + 3.25sINFOros2_control_nodeSuccessfully switched controllers![0m ×40 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.220538 ms (missed cycles : 3). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.220538 ms (missed cycles : 3).[0m ×2 + 3.25sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 3.25sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 3.38sINFOros2_control_nodeTrying EGL candidate default display for offscreen camera rendering.[0m ×2 + 3.38sINFOros2_control_nodeTrying EGL candidate platform device 0 (software) for offscreen camera rendering.[0m ×2 + 3.38sINFOcomponent_container_mt[2026-11-11 19:35:34.060] [moveit_pro_license] [info] ×2 + 3.38sINFOcomponent_container_mt************************************************* ×4 + 3.38sINFOcomponent_container_mt* MoveIt Pro License ×2 + 3.38sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 3.41sINFOros2_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 + 3.41sINFOros2_control_nodeFell back to platform device 0 (software) after skipping: default display: eglInitialize failed: EGL_NOT_INITIALIZED (0x3001).[0m ×2 + 3.41sWARNros2_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 + 3.42sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 3.53sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 3.53sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 3.53sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 3.53sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 3.54sINFOros2-3process has finished cleanly [pid 8339] ×2 + 3.57sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 3.64sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_8devz559 --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_ukd0379r --params-file /tmp/launch_params_e4yo2idk + 3.64sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_8devz559 --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_ukd0379r --params-file /tmp/launch_params_e4yo2idk [0m ×2 + 3.67sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 3.67sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 3.67sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 3.68sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 3.68sINFOros2_control_node[2026-11-11 19:35:34.351] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 3.68sINFOros2_control_node[2026-11-11 19:35:34.351] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 3.68sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 3.70sINFOros2_control_node[2026-11-11 19:35:34.377] [warning] JointTrajectoryAdmittanceController 'joint_trajectory_admittance_controller': default_path_tolerance is deprecated and will be removed in a future release. It applies 0.5 to every joint. Set default_path_tolerances to one value per joint in this order: linear_rail_joint, shoulder_pan_joint, shoulder_lift_joint, elbow_joint, wrist_1_joint, wrist_2_joint, wrist_3_joint. ×2 + 3.70sINFOros2_control_node[2026-11-11 19:35:34.377] [warning] JointTrajectoryAdmittanceController 'joint_trajectory_admittance_controller': default_goal_tolerance is deprecated and will be removed in a future release. It applies 0.05 to every joint. Set default_goal_tolerances to one value per joint in this order: linear_rail_joint, shoulder_pan_joint, shoulder_lift_joint, elbow_joint, wrist_1_joint, wrist_2_joint, wrist_3_joint. ×2 + 3.70sINFOros2_control_node[2026-11-11 19:35:34.377] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 3.70sINFOros2_control_node[2026-11-11 19:35:34.377] [info] Controller state will be published at 50 Hz. ×2 + 3.71sINFOros2_control_node[2026-11-11 19:35:34.385] [info] Registered `FollowJointTrajectory` action server. ×2 + 3.99sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 3.99sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 3.99sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 3.99sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 4.03sINFOros2-6process has finished cleanly [pid 8342] ×2 + 4.07sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_8devz559 --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_ukd0379r --params-file /tmp/launch_params_e4yo2idk + 4.07sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_8devz559 --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_ukd0379r --params-file /tmp/launch_params_e4yo2idk [0m ×2 + 4.11sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 4.11sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 4.12sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 4.12sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 4.15sINFOros2_control_node[2026-11-11 19:35:34.821] [info] Controller state will be published at 20 Hz. ×2 + 4.15sINFOros2_control_node[2026-11-11 19:35:34.821] [info] JointVelocityController 'on_configure' succeeded. ×2 + 4.43sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 4.43sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 4.43sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 4.43sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 4.44sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_8devz559 --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_ukd0379r --params-file /tmp/launch_params_e4yo2idk + 4.44sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_8devz559 --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_ukd0379r --params-file /tmp/launch_params_e4yo2idk [0m ×2 + 4.47sINFOros2-8process has finished cleanly [pid 8344] ×2 + 4.47sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 4.47sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 4.47sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 4.48sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 4.48sINFOforce_torque_sensor_broadcasterconfigure successful + 4.48sINFOros2_control_nodeconfigure successful[0m ×2 + 4.48sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 4.48sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 4.49sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 4.49sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 4.67sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 4.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.984971 ms (missed cycles : 2). + 4.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.984971 ms (missed cycles : 2).[0m ×2 + 4.80sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 4.80sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 4.80sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 4.80sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 4.80sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_8devz559 --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_ukd0379r --params-file /tmp/launch_params_e4yo2idk + 4.80sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_8devz559 --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_ukd0379r --params-file /tmp/launch_params_e4yo2idk [0m ×2 + 4.80sINFOros2-2process has finished cleanly [pid 8338] ×2 + 4.86sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 4.86sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 4.86sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 4.86sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 4.86sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 4.87sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 4.87sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 4.87sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 4.87sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 4.87sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 4.87sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 4.87sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 4.87sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 4.87sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 4.87sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.87sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.88sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 4.88sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 5.15sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 5.15sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 5.15sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 5.15sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 5.16sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_8devz559 --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_ukd0379r --params-file /tmp/launch_params_e4yo2idk + 5.16sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_8devz559 --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_ukd0379r --params-file /tmp/launch_params_e4yo2idk [0m ×2 + 5.16sINFOros2-5process has finished cleanly [pid 8341] ×2 + 5.19sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 5.19sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 5.19sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 5.20sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 5.20sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 5.20sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 5.20sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 5.20sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 5.21sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 5.21sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 5.52sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 5.52sINFOcontroller_managerLoading controller 'velocity_force_controller' + 5.52sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 5.52sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 5.52sINFOros2-4process has finished cleanly [pid 8340] ×2 + 5.58sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_8devz559 --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_ukd0379r --params-file /tmp/launch_params_e4yo2idk + 5.58sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_8devz559 --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_ukd0379r --params-file /tmp/launch_params_e4yo2idk [0m ×2 + 5.61sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 5.61sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 5.61sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 5.62sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 5.64sINFOros2_control_node[2026-11-11 19:35:36.316] [info] Controller state will be published at 10 Hz. ×2 + 5.64sINFOros2_control_node[2026-11-11 19:35:36.317] [info] VelocityForceController 'on_configure' succeeded. ×2 + 5.98sINFOros2-7process has finished cleanly [pid 8343] ×2 + 9.63sWARNobjective_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 + 9.69sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 9.73sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 9.73sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 9.73sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 9.73sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 9.73sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 9.73sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 9.75sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 9.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 9.76sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 9.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 9.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 9.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 10.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 10.33sINFOobjective_server_nodeReceived /do_objective goal: ×12 + 10.33sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 10.33sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 10.33sINFOobjective_server_nodeparameter_overrides: [] ×12 + 10.33sINFOobjective_server_nodecaller: ×12 + 10.33sINFOobjective_server_nodetype: 0 ×12 + 10.33sINFOobjective_server_nodename: "" ×12 + 10.33sINFOobjective_server_nodeinstance_id: "" ×12 + 10.33sINFOobjective_server_node ×12 + 10.38sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1794425741.05292511 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 10.39sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1794425741.06317306 seconds ×3 + 10.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 10.92sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 10.97sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1794425741.64485312 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 10.97sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 10.97sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 11.88sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1794425742.55501580 seconds ×3 + 12.44sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 12.44sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 12.48sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1794425743.15414762 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 12.54sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1794425743.21432042 seconds ×3 + 13.06sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 13.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 13.14sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 13.18sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1794425743.86065555 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 13.20sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1794425743.88081050 seconds ×3 + 13.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 13.74sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 13.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1794425744.45488238 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 13.93sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1794425744.60535216 seconds ×3 + 14.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.56sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 14.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1794425745.27287245 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.61sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 14.61sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 14.62sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 14.62sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 14.62sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 14.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.104188 ms (missed cycles : 2). + 14.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.104188 ms (missed cycles : 2).[0m ×2 + 14.65sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1794425745.32304239 seconds ×3 | ||||
| ✓ passed | — | vector_subtrees_example.xml | 0.7s | 3 warnings · 347 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×12 + 0.00sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×12 + 0.00sINFOobjective_server_nodecaller: ×12 + 0.00sINFOobjective_server_nodetype: 0 ×12 + 0.00sINFOobjective_server_nodename: "" ×12 + 0.00sINFOobjective_server_nodeinstance_id: "" ×12 + 0.00sINFOobjective_server_node ×12 + 0.05sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1794425741.64485312 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.05sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.05sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.96sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1794425742.55501580 seconds ×3 + 0.99sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.99sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.99sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.99sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.99sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.99sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.99sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.99sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.99sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.99sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.00sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.00sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.52sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.55sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1794425743.15414762 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.61sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1794425743.21432042 seconds ×3 + 2.14sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.22sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.26sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1794425743.86065555 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.28sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1794425743.88081050 seconds ×3 + 2.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.82sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1794425744.45488238 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.01sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1794425744.60535216 seconds ×3 + 3.63sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.63sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.67sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1794425745.27287245 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.69sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.69sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.70sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.70sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.70sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.104188 ms (missed cycles : 2). + 3.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.104188 ms (missed cycles : 2).[0m ×2 + 3.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1794425745.32304239 seconds ×3 + 4.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.36sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.44sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1794425746.03538156 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.45sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.45sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.45sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.45sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.45sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.45sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.45sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.45sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.45sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.53sINFOobjective_server_nodeFound path in 0 iterations (1.5841e-05 s). ×2 + 4.53sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.54sINFOros2_control_node[2026-11-11 19:35:46.141] [info] Received new action goal ×2 + 4.54sINFOros2_control_node[2026-11-11 19:35:46.141] [info] Accepted new action goal ×2 + 6.94sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 7.01sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). ×2 + 7.01sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 7.03sINFOros2_control_node[2026-11-11 19:35:48.629] [info] Received new action goal ×2 + 7.03sINFOros2_control_node[2026-11-11 19:35:48.629] [info] Accepted new action goal ×2 | ||||
| ✓ passed | — | reset_planning_scene.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 + 0.04sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1794425741.05292511 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.05sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1794425741.06317306 seconds ×3 + 0.06sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.06sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.06sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.06sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.07sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.07sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.59sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.59sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.63sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1794425741.64485312 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.64sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.64sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 1.54sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1794425742.55501580 seconds ×3 + 2.10sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.10sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.14sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1794425743.15414762 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.20sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1794425743.21432042 seconds ×3 + 2.73sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.81sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.85sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1794425743.86065555 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1794425743.88081050 seconds ×3 + 3.41sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.41sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1794425744.45488238 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1794425744.60535216 seconds ×3 + 4.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.22sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.26sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1794425745.27287245 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.28sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.28sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.29sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.29sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.29sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.104188 ms (missed cycles : 2). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.104188 ms (missed cycles : 2).[0m ×2 + 4.31sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1794425745.32304239 seconds ×3 + 4.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.95sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 5.03sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1794425746.03538156 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.04sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 5.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.04sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.04sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.04sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.04sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.12sINFOobjective_server_nodeFound path in 0 iterations (1.5841e-05 s). ×2 + 5.12sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 5.13sINFOros2_control_node[2026-11-11 19:35:46.141] [info] Received new action goal ×2 + 5.13sINFOros2_control_node[2026-11-11 19:35:46.141] [info] Accepted new action goal ×2 | ||||
| − skipped | — | wait_for_trajectory_approval_if_user_available.xml | 0.1s | 3 warnings · 322 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1794425742.55501580 seconds ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.03sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 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: ×10 + 0.56sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.56sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.56sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.56sINFOobjective_server_nodecaller: ×10 + 0.56sINFOobjective_server_nodetype: 0 ×10 + 0.56sINFOobjective_server_nodename: "" ×10 + 0.56sINFOobjective_server_nodeinstance_id: "" ×10 + 0.56sINFOobjective_server_node ×10 + 0.60sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1794425743.15414762 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.60sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.60sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.66sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1794425743.21432042 seconds ×3 + 1.19sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.26sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.31sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1794425743.86065555 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.33sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1794425743.88081050 seconds ×3 + 1.86sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.86sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.90sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1794425744.45488238 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1794425744.60535216 seconds ×3 + 2.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.68sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1794425745.27287245 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.74sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.104188 ms (missed cycles : 2). + 2.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.104188 ms (missed cycles : 2).[0m ×2 + 2.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1794425745.32304239 seconds ×3 + 3.40sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.40sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.48sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1794425746.03538156 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.49sINFOobjective_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 + 3.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.49sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.49sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.50sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.50sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.57sINFOobjective_server_nodeFound path in 0 iterations (1.5841e-05 s). ×2 + 3.58sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.59sINFOros2_control_node[2026-11-11 19:35:46.141] [info] Received new action goal ×2 + 3.59sINFOros2_control_node[2026-11-11 19:35:46.141] [info] Accepted new action goal ×2 + 5.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.05sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). ×2 + 6.06sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.07sINFOros2_control_node[2026-11-11 19:35:48.629] [info] Received new action goal ×2 + 6.08sINFOros2_control_node[2026-11-11 19:35:48.629] [info] Accepted new action goal ×2 | ||||
| − skipped | — | addtovector.xml | 0.0s | 21 warnings · 339 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/2026-11-11-19-35-30-383112-160d9abcd6c4-8289 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 0.57sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 0.58sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 0.58sINFOcontroller_managerupdate rate is 600 Hz + 0.58sINFOcontroller_managerOverruns handling is : enabled + 0.58sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 0.59sWARNcontroller_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. + 0.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.178528 ms (missed cycles : 4). + 0.79sINFOros2_control_node-1process started with pid [8337] ×2 + 0.79sINFOplanning_scene_server-9process started with pid [8356] ×2 + 0.79sINFOparameter_manager_node-10process started with pid [8357] ×2 + 0.79sINFOwaypoint_manager_node-11process started with pid [8362] ×2 + 0.79sINFOmove_joint_resampler_node-12process started with pid [8365] ×2 + 0.79sINFOmove_end_effector_resampler_node-13process started with pid [8368] ×2 + 0.79sINFOobjective_server_node_main-14process started with pid [8371] ×2 + 0.79sINFOcomponent_container_mt-15process started with pid [8374] ×2 + 0.79sINFOcomponent_container_mt-16process started with pid [8379] ×2 + 0.79sINFOexecute_objective_bridge-17process started with pid [8396] ×2 + 0.79sINFOui_teleop_bridge-18process started with pid [8397] ×2 + 0.79sINFOweb_bridge-19process started with pid [8398] ×2 + 0.79sINFOtf_visualization_relay-20process started with pid [8471] ×2 + 0.79sINFOjoint_state_visualization_relay-21process started with pid [8472] ×2 + 0.79sINFOtf2_web_republisher_node-22process started with pid [8474] ×2 + 0.79sINFOvideo_server-23process started with pid [8475] ×2 + 0.79sINFOweb_bridge_auth_proxy-24process started with pid [8476] ×2 + 0.79sINFOweb_video_auth_proxy-25process started with pid [8477] ×2 + 0.79sINFOros2-2process started with pid [8338] ×2 + 0.79sINFOros2-3process started with pid [8339] ×2 + 0.79sINFOros2-4process started with pid [8340] ×2 + 0.79sINFOros2-5process started with pid [8341] ×2 + 0.79sINFOros2-6process started with pid [8342] ×2 + 0.79sINFOros2-7process started with pid [8343] ×2 + 0.79sINFOros2-8process started with pid [8344] ×2 + 0.81sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 0.81sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 0.81sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 0.81sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 0.81sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 0.81sWARNros2_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 + 0.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.178528 ms (missed cycles : 4).[0m ×2 + 0.88sINFOcontroller_managerReceived robot description from topic. + 0.88sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 0.89sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 0.89sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 0.89sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 0.90sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 0.90sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 0.90sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 1.00sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 1.01sINFOvideo_server2026/11/11 19:35:31 INF MediaMTX v1.20.1, linux, amd64 ×2 + 1.01sINFOvideo_server2026/11/11 19:35:31 INF configuration loaded from /tmp/moveit-webrtc-yxctmg65/mediamtx.yml ×2 + 1.02sINFOvideo_server2026/11/11 19:35:31 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 + 1.02sINFOvideo_server2026/11/11 19:35:31 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 + 1.21sINFOspawner_robotiq_gripper_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.21sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 1.50sINFOweb_video_auth_proxy2026-11-11 19:35:32,174 INFO moveit_studio_utils_py.tls: Generated MoveIt Pro self-signed TLS certificate at /github/home/.local/share/moveit_pro/tls/cert.pem ×2 + 1.50sINFOweb_video_auth_proxy2026-11-11 19:35:32,176 INFO auth_proxy: TLS auth proxy on 0.0.0.0:3202 -> 127.0.0.1:13202 ×2 + 1.50sINFOweb_bridge_auth_proxy2026-11-11 19:35:32,179 INFO auth_proxy: TLS auth proxy on 0.0.0.0:3201 -> 127.0.0.1:13201 ×2 + 1.52sINFOplanning_scene_server[2026-11-11 19:35:32.194] [moveit_pro_license] [info] ×2 + 1.52sINFOplanning_scene_server************************************************* ×4 + 1.52sINFOplanning_scene_server* MoveIt Pro License ×2 + 1.52sINFOplanning_scene_server* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 1.66sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 1.66sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 1.66sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 1.66sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 1.68sINFOros2_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 + 1.68sINFOros2_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 + 1.76sINFOplanning_scene_server ×4 + 1.76sINFOplanning_scene_server[92mYou can start planning now![0m ×2 + 1.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.248648 ms (missed cycles : 2). + 1.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.248648 ms (missed cycles : 2).[0m ×2 + 1.98sINFOwaypoint_manager_node[2026-11-11 19:35:32.655] [moveit_pro_license] [info] ×2 + 1.98sINFOwaypoint_manager_node************************************************* ×4 + 1.98sINFOwaypoint_manager_node* MoveIt Pro License ×2 + 1.98sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 2.05sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 2.67sINFOobjective_server_node[2026-11-11 19:35:33.342] [moveit_pro_license] [info] ×2 + 2.67sINFOobjective_server_node************************************************* ×4 + 2.67sINFOobjective_server_node* MoveIt Pro License ×2 + 2.67sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 2.71sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 2.73sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 2.77sINFOobjective_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 + 2.77sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 2.79sINFOobjective_server_nodeLoading 7 behavior loader plugin(s): ×2 + 2.79sINFOobjective_server_nodelab_sim_behaviors::LabSimBehaviorsLoader ×2 + 2.79sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 2.79sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 2.79sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 2.79sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 2.79sINFOobjective_server_nodemoveit_pro::behaviors::MPCBehaviorsLoader ×2 + 2.79sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 2.86sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 2.99sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/surface_coverage_accumulator' in container '/moveit_studio_point_cloud_container' ×2 + 3.04sWARNros2_control_nodeNo keyframe specified, applying first keyframe to set initial state.[0m ×2 + 3.04sINFOros2_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 + 3.04sWARNros2_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 + 3.04sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 3.04sINFOros2_control_nodebase: 0.0002 m, 3.1416 rad ×2 + 3.04sINFOros2_control_nodeshoulder_link: 0.0006 m, 3.1416 rad ×2 + 3.04sINFOros2_control_nodeupper_arm_link: 0.1380 m, 2.0944 rad ×2 + 3.04sINFOros2_control_nodeforearm_link: 0.0070 m, 2.0944 rad ×2 + 3.04sINFOros2_control_nodewrist_1_link: 0.1264 m, 1.5708 rad ×2 + 3.04sINFOros2_control_nodewrist_2_link: 0.1004 m, 0.0000 rad ×2 + 3.04sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 3.04sINFOros2_control_nodewrist_3_link: 0.1003 m, 1.5708 rad ×2 + 3.04sINFOros2_control_noderobotiq_85_base_link: 0.0073 m, 1.5708 rad ×2 + 3.04sINFOros2_control_noderobotiq_85_left_inner_knuckle_link: 0.0078 m, 1.5708 rad ×2 + 3.04sINFOros2_control_noderobotiq_85_left_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 3.04sINFOros2_control_noderobotiq_85_right_inner_knuckle_link: 0.0079 m, 1.5708 rad ×2 + 3.04sINFOros2_control_noderobotiq_85_right_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 3.04sINFOros2_control_noderobotiq_85_left_finger_link: 0.0076 m, 1.5708 rad ×2 + 3.04sINFOros2_control_noderobotiq_85_left_finger_tip_link: 0.1092 m, 2.0014 rad ×2 + 3.04sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 3.04sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 3.05sINFOros2_control_noderobotiq_85_right_finger_link: 0.0076 m, 1.5708 rad ×2 + 3.05sINFOros2_control_noderobotiq_85_right_finger_tip_link: 0.1096 m, 2.0014 rad[0m ×2 + 3.05sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 3.05sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 3.05sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 3.05sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 3.05sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 3.05sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 3.05sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 3.05sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 3.18sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 3.18sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 3.22sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 3.22sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 3.22sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 3.22sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 3.22sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_8devz559 --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_ukd0379r --params-file /tmp/launch_params_e4yo2idk + 3.22sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_8devz559 --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_ukd0379r --params-file /tmp/launch_params_e4yo2idk [0m ×2 + 3.23sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 3.23sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 3.24sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 3.24sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 3.24sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 3.24sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 3.24sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 3.24sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 3.24sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 3.24sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 3.25sINFOcontroller_managerSuccessfully switched controllers! + 3.25sINFOros2_control_nodeSuccessfully switched controllers![0m ×2 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.220538 ms (missed cycles : 3). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.220538 ms (missed cycles : 3).[0m ×2 + 3.25sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 3.25sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 3.38sINFOros2_control_nodeTrying EGL candidate default display for offscreen camera rendering.[0m ×2 + 3.38sINFOros2_control_nodeTrying EGL candidate platform device 0 (software) for offscreen camera rendering.[0m ×2 + 3.38sINFOcomponent_container_mt[2026-11-11 19:35:34.060] [moveit_pro_license] [info] ×2 + 3.38sINFOcomponent_container_mt************************************************* ×4 + 3.38sINFOcomponent_container_mt* MoveIt Pro License ×2 + 3.38sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 3.41sINFOros2_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 + 3.41sINFOros2_control_nodeFell back to platform device 0 (software) after skipping: default display: eglInitialize failed: EGL_NOT_INITIALIZED (0x3001).[0m ×2 + 3.41sWARNros2_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 + 3.42sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 3.53sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 3.53sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 3.53sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 3.53sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 3.54sINFOros2-3process has finished cleanly [pid 8339] ×2 + 3.57sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 3.64sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_8devz559 --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_ukd0379r --params-file /tmp/launch_params_e4yo2idk + 3.64sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_8devz559 --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_ukd0379r --params-file /tmp/launch_params_e4yo2idk [0m ×2 + 3.67sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 3.67sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 3.67sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 3.68sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 3.68sINFOros2_control_node[2026-11-11 19:35:34.351] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 3.68sINFOros2_control_node[2026-11-11 19:35:34.351] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 3.68sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 3.70sINFOros2_control_node[2026-11-11 19:35:34.377] [warning] JointTrajectoryAdmittanceController 'joint_trajectory_admittance_controller': default_path_tolerance is deprecated and will be removed in a future release. It applies 0.5 to every joint. Set default_path_tolerances to one value per joint in this order: linear_rail_joint, shoulder_pan_joint, shoulder_lift_joint, elbow_joint, wrist_1_joint, wrist_2_joint, wrist_3_joint. ×2 + 3.70sINFOros2_control_node[2026-11-11 19:35:34.377] [warning] JointTrajectoryAdmittanceController 'joint_trajectory_admittance_controller': default_goal_tolerance is deprecated and will be removed in a future release. It applies 0.05 to every joint. Set default_goal_tolerances to one value per joint in this order: linear_rail_joint, shoulder_pan_joint, shoulder_lift_joint, elbow_joint, wrist_1_joint, wrist_2_joint, wrist_3_joint. ×2 + 3.70sINFOros2_control_node[2026-11-11 19:35:34.377] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 3.70sINFOros2_control_node[2026-11-11 19:35:34.377] [info] Controller state will be published at 50 Hz. ×2 + 3.71sINFOros2_control_node[2026-11-11 19:35:34.385] [info] Registered `FollowJointTrajectory` action server. ×2 + 3.99sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 3.99sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 3.99sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 3.99sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 4.03sINFOros2-6process has finished cleanly [pid 8342] ×2 + 4.07sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_8devz559 --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_ukd0379r --params-file /tmp/launch_params_e4yo2idk + 4.07sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_8devz559 --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_ukd0379r --params-file /tmp/launch_params_e4yo2idk [0m ×2 + 4.11sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 4.11sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 4.12sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 4.12sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 4.15sINFOros2_control_node[2026-11-11 19:35:34.821] [info] Controller state will be published at 20 Hz. ×2 + 4.15sINFOros2_control_node[2026-11-11 19:35:34.821] [info] JointVelocityController 'on_configure' succeeded. ×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 + 0.06sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.10sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.10sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.10sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.10sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.10sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.10sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.10sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 0.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.13sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.13sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.13sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.13sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.71sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.71sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.71sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.71sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.71sINFOobjective_server_nodecaller: ×14 + 0.71sINFOobjective_server_nodetype: 0 ×14 + 0.71sINFOobjective_server_nodename: "" ×14 + 0.71sINFOobjective_server_nodeinstance_id: "" ×14 + 0.71sINFOobjective_server_node ×14 + 0.75sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1794425741.05292511 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.76sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1794425741.06317306 seconds ×3 + 1.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.30sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.34sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1794425741.64485312 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.34sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.34sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.25sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1794425742.55501580 seconds ×3 + 2.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.81sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.85sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1794425743.15414762 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.91sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1794425743.21432042 seconds ×3 + 3.44sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.51sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.56sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1794425743.86065555 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.58sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1794425743.88081050 seconds ×3 + 4.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.11sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.15sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1794425744.45488238 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.30sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1794425744.60535216 seconds ×3 + 4.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.93sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.97sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1794425745.27287245 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.98sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.98sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.99sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.99sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.99sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.104188 ms (missed cycles : 2). + 5.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.104188 ms (missed cycles : 2).[0m ×2 + 5.02sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1794425745.32304239 seconds ×3 + 5.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.65sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 5.73sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1794425746.03538156 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.74sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 5.74sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.74sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.74sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.74sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.75sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.75sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.75sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.75sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.82sINFOobjective_server_nodeFound path in 0 iterations (1.5841e-05 s). ×2 + 5.83sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 5.84sINFOros2_control_node[2026-11-11 19:35:46.141] [info] Received new action goal ×2 + 5.84sINFOros2_control_node[2026-11-11 19:35:46.141] [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 + 0.06sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.10sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.10sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.10sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.10sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.10sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.10sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.10sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 0.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.13sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.13sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.13sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.13sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.71sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.71sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.71sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.71sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.71sINFOobjective_server_nodecaller: ×14 + 0.71sINFOobjective_server_nodetype: 0 ×14 + 0.71sINFOobjective_server_nodename: "" ×14 + 0.71sINFOobjective_server_nodeinstance_id: "" ×14 + 0.71sINFOobjective_server_node ×14 + 0.75sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1794425741.05292511 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.76sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1794425741.06317306 seconds ×3 + 1.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.30sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.34sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1794425741.64485312 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.34sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.34sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.25sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1794425742.55501580 seconds ×3 + 2.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.81sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.85sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1794425743.15414762 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.91sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1794425743.21432042 seconds ×3 + 3.44sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.51sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.56sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1794425743.86065555 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.58sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1794425743.88081050 seconds ×3 + 4.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.11sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.15sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1794425744.45488238 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.30sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1794425744.60535216 seconds ×3 + 4.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.93sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.97sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1794425745.27287245 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.98sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.98sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.99sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.99sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.99sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.104188 ms (missed cycles : 2). + 5.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.104188 ms (missed cycles : 2).[0m ×2 + 5.02sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1794425745.32304239 seconds ×3 + 5.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.65sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 5.73sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1794425746.03538156 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.74sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 5.74sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.74sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.74sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.74sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.75sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.75sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.75sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.75sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.82sINFOobjective_server_nodeFound path in 0 iterations (1.5841e-05 s). ×2 + 5.83sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 5.84sINFOros2_control_node[2026-11-11 19:35:46.141] [info] Received new action goal ×2 + 5.84sINFOros2_control_node[2026-11-11 19:35:46.141] [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 + 0.06sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.10sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.10sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.10sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.10sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.10sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.10sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.10sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 0.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.13sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.13sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.13sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.13sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.71sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.71sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.71sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.71sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.71sINFOobjective_server_nodecaller: ×14 + 0.71sINFOobjective_server_nodetype: 0 ×14 + 0.71sINFOobjective_server_nodename: "" ×14 + 0.71sINFOobjective_server_nodeinstance_id: "" ×14 + 0.71sINFOobjective_server_node ×14 + 0.75sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1794425741.05292511 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.76sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1794425741.06317306 seconds ×3 + 1.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.30sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.34sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1794425741.64485312 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.34sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.34sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.25sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1794425742.55501580 seconds ×3 + 2.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.81sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.85sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1794425743.15414762 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.91sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1794425743.21432042 seconds ×3 + 3.44sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.51sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.56sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1794425743.86065555 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.58sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1794425743.88081050 seconds ×3 + 4.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.11sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.15sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1794425744.45488238 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.30sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1794425744.60535216 seconds ×3 + 4.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.93sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.97sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1794425745.27287245 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.98sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.98sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.99sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.99sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.99sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.104188 ms (missed cycles : 2). + 5.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.104188 ms (missed cycles : 2).[0m ×2 + 5.02sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1794425745.32304239 seconds ×3 + 5.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.65sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 5.73sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1794425746.03538156 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.74sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 5.74sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.74sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.74sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.74sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.75sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.75sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.75sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.75sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.82sINFOobjective_server_nodeFound path in 0 iterations (1.5841e-05 s). ×2 + 5.83sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 5.84sINFOros2_control_node[2026-11-11 19:35:46.141] [info] Received new action goal ×2 + 5.84sINFOros2_control_node[2026-11-11 19:35:46.141] [info] Accepted new action goal ×2 | ||||
| − skipped | — | request_teleoperation.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 + 0.04sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1794425741.05292511 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.05sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1794425741.06317306 seconds ×3 + 0.06sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.06sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.06sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.06sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.07sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.07sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.59sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.59sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.63sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1794425741.64485312 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.64sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.64sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.54sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1794425742.55501580 seconds ×3 + 2.10sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.10sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.14sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1794425743.15414762 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.20sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1794425743.21432042 seconds ×3 + 2.73sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.81sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.85sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1794425743.86065555 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1794425743.88081050 seconds ×3 + 3.41sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.41sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1794425744.45488238 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1794425744.60535216 seconds ×3 + 4.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.22sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.26sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1794425745.27287245 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.28sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.28sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.29sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.29sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.29sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.104188 ms (missed cycles : 2). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.104188 ms (missed cycles : 2).[0m ×2 + 4.31sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1794425745.32304239 seconds ×3 + 4.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.95sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 5.03sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1794425746.03538156 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.04sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 5.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.04sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.04sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.04sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.04sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.12sINFOobjective_server_nodeFound path in 0 iterations (1.5841e-05 s). ×2 + 5.12sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 5.13sINFOros2_control_node[2026-11-11 19:35:46.141] [info] Received new action goal ×2 + 5.13sINFOros2_control_node[2026-11-11 19:35:46.141] [info] Accepted new action goal ×2 | ||||
| − skipped | — | teleoperate.xml | 0.0s | 3 warnings · 336 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×12 + 0.00sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×12 + 0.00sINFOobjective_server_nodecaller: ×12 + 0.00sINFOobjective_server_nodetype: 0 ×12 + 0.00sINFOobjective_server_nodename: "" ×12 + 0.00sINFOobjective_server_nodeinstance_id: "" ×12 + 0.00sINFOobjective_server_node ×12 + 0.05sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1794425741.64485312 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.05sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.05sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.96sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1794425742.55501580 seconds ×3 + 0.99sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.99sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.99sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.99sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.99sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.99sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.99sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.99sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.99sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.99sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.00sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.00sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.52sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.55sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1794425743.15414762 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.61sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1794425743.21432042 seconds ×3 + 2.14sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.22sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.26sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1794425743.86065555 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.28sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1794425743.88081050 seconds ×3 + 2.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.82sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1794425744.45488238 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.01sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1794425744.60535216 seconds ×3 + 3.63sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.63sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.67sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1794425745.27287245 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.69sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.69sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.70sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.70sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.70sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.104188 ms (missed cycles : 2). + 3.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.104188 ms (missed cycles : 2).[0m ×2 + 3.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1794425745.32304239 seconds ×3 + 4.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.36sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.44sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1794425746.03538156 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.45sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.45sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.45sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.45sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.45sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.45sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.45sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.45sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.45sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.53sINFOobjective_server_nodeFound path in 0 iterations (1.5841e-05 s). ×2 + 4.53sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.54sINFOros2_control_node[2026-11-11 19:35:46.141] [info] Received new action goal ×2 + 4.54sINFOros2_control_node[2026-11-11 19:35:46.141] [info] Accepted new action goal ×2 | ||||
| − skipped | — | wait_for_joint_trajectory_approval.xml | 0.0s | 3 warnings · 322 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1794425742.55501580 seconds ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.03sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 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: ×10 + 0.56sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.56sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.56sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.56sINFOobjective_server_nodecaller: ×10 + 0.56sINFOobjective_server_nodetype: 0 ×10 + 0.56sINFOobjective_server_nodename: "" ×10 + 0.56sINFOobjective_server_nodeinstance_id: "" ×10 + 0.56sINFOobjective_server_node ×10 + 0.60sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1794425743.15414762 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.60sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.60sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.66sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1794425743.21432042 seconds ×3 + 1.19sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.26sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.31sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1794425743.86065555 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.33sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1794425743.88081050 seconds ×3 + 1.86sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.86sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.90sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1794425744.45488238 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1794425744.60535216 seconds ×3 + 2.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.68sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1794425745.27287245 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.74sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.104188 ms (missed cycles : 2). + 2.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.104188 ms (missed cycles : 2).[0m ×2 + 2.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1794425745.32304239 seconds ×3 + 3.40sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.40sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.48sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1794425746.03538156 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.49sINFOobjective_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 + 3.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.49sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.49sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.50sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.50sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.57sINFOobjective_server_nodeFound path in 0 iterations (1.5841e-05 s). ×2 + 3.58sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.59sINFOros2_control_node[2026-11-11 19:35:46.141] [info] Received new action goal ×2 + 3.59sINFOros2_control_node[2026-11-11 19:35:46.141] [info] Accepted new action goal ×2 + 5.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.05sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). ×2 + 6.06sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.07sINFOros2_control_node[2026-11-11 19:35:48.629] [info] Received new action goal ×2 + 6.08sINFOros2_control_node[2026-11-11 19:35:48.629] [info] Accepted new action goal ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/motion15 skip
| − skipped | — | execute_mtc_solution.xml | 0.0s | 3 warnings · 322 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1794425742.55501580 seconds ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.03sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 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: ×10 + 0.56sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.56sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.56sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.56sINFOobjective_server_nodecaller: ×10 + 0.56sINFOobjective_server_nodetype: 0 ×10 + 0.56sINFOobjective_server_nodename: "" ×10 + 0.56sINFOobjective_server_nodeinstance_id: "" ×10 + 0.56sINFOobjective_server_node ×10 + 0.60sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1794425743.15414762 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.60sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.60sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.66sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1794425743.21432042 seconds ×3 + 1.19sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.26sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.31sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1794425743.86065555 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.33sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1794425743.88081050 seconds ×3 + 1.86sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.86sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.90sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1794425744.45488238 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1794425744.60535216 seconds ×3 + 2.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.68sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1794425745.27287245 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.74sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.104188 ms (missed cycles : 2). + 2.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.104188 ms (missed cycles : 2).[0m ×2 + 2.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1794425745.32304239 seconds ×3 + 3.40sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.40sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.48sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1794425746.03538156 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.49sINFOobjective_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 + 3.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.49sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.49sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.50sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.50sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.57sINFOobjective_server_nodeFound path in 0 iterations (1.5841e-05 s). ×2 + 3.58sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.59sINFOros2_control_node[2026-11-11 19:35:46.141] [info] Received new action goal ×2 + 3.59sINFOros2_control_node[2026-11-11 19:35:46.141] [info] Accepted new action goal ×2 + 5.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.05sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). ×2 + 6.06sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.07sINFOros2_control_node[2026-11-11 19:35:48.629] [info] Received new action goal ×2 + 6.08sINFOros2_control_node[2026-11-11 19:35:48.629] [info] Accepted new action goal ×2 | ||||
| − skipped | — | execute_mtc_solution_jtc.xml | 0.0s | 3 warnings · 322 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1794425742.55501580 seconds ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.03sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 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: ×10 + 0.56sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.56sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.56sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.56sINFOobjective_server_nodecaller: ×10 + 0.56sINFOobjective_server_nodetype: 0 ×10 + 0.56sINFOobjective_server_nodename: "" ×10 + 0.56sINFOobjective_server_nodeinstance_id: "" ×10 + 0.56sINFOobjective_server_node ×10 + 0.60sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1794425743.15414762 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.60sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.60sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.66sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1794425743.21432042 seconds ×3 + 1.19sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.26sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.31sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1794425743.86065555 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.33sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1794425743.88081050 seconds ×3 + 1.86sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.86sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.90sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1794425744.45488238 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1794425744.60535216 seconds ×3 + 2.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.68sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1794425745.27287245 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.74sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.104188 ms (missed cycles : 2). + 2.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.104188 ms (missed cycles : 2).[0m ×2 + 2.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1794425745.32304239 seconds ×3 + 3.40sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.40sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.48sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1794425746.03538156 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.49sINFOobjective_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 + 3.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.49sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.49sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.50sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.50sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.57sINFOobjective_server_nodeFound path in 0 iterations (1.5841e-05 s). ×2 + 3.58sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.59sINFOros2_control_node[2026-11-11 19:35:46.141] [info] Received new action goal ×2 + 3.59sINFOros2_control_node[2026-11-11 19:35:46.141] [info] Accepted new action goal ×2 + 5.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.05sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). ×2 + 6.06sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.07sINFOros2_control_node[2026-11-11 19:35:48.629] [info] Received new action goal ×2 + 6.08sINFOros2_control_node[2026-11-11 19:35:48.629] [info] Accepted new action goal ×2 | ||||
| − skipped | — | interpolate_to_joint_state.xml | 0.0s | 3 warnings · 322 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1794425742.55501580 seconds ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.03sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 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: ×10 + 0.56sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.56sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.56sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.56sINFOobjective_server_nodecaller: ×10 + 0.56sINFOobjective_server_nodetype: 0 ×10 + 0.56sINFOobjective_server_nodename: "" ×10 + 0.56sINFOobjective_server_nodeinstance_id: "" ×10 + 0.56sINFOobjective_server_node ×10 + 0.60sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1794425743.15414762 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.60sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.60sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.66sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1794425743.21432042 seconds ×3 + 1.19sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.26sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.31sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1794425743.86065555 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.33sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1794425743.88081050 seconds ×3 + 1.86sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.86sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.90sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1794425744.45488238 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1794425744.60535216 seconds ×3 + 2.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.68sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1794425745.27287245 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.74sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.104188 ms (missed cycles : 2). + 2.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.104188 ms (missed cycles : 2).[0m ×2 + 2.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1794425745.32304239 seconds ×3 + 3.40sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.40sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.48sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1794425746.03538156 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.49sINFOobjective_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 + 3.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.49sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.49sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.50sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.50sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.57sINFOobjective_server_nodeFound path in 0 iterations (1.5841e-05 s). ×2 + 3.58sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.59sINFOros2_control_node[2026-11-11 19:35:46.141] [info] Received new action goal ×2 + 3.59sINFOros2_control_node[2026-11-11 19:35:46.141] [info] Accepted new action goal ×2 + 5.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.05sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). ×2 + 6.06sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.07sINFOros2_control_node[2026-11-11 19:35:48.629] [info] Received new action goal ×2 + 6.08sINFOros2_control_node[2026-11-11 19:35:48.629] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_cartesian_pose.xml | 0.0s | 3 warnings · 322 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1794425742.55501580 seconds ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.03sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 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: ×10 + 0.56sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.56sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.56sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.56sINFOobjective_server_nodecaller: ×10 + 0.56sINFOobjective_server_nodetype: 0 ×10 + 0.56sINFOobjective_server_nodename: "" ×10 + 0.56sINFOobjective_server_nodeinstance_id: "" ×10 + 0.56sINFOobjective_server_node ×10 + 0.60sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1794425743.15414762 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.60sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.60sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.66sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1794425743.21432042 seconds ×3 + 1.19sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.26sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.31sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1794425743.86065555 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.33sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1794425743.88081050 seconds ×3 + 1.86sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.86sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.90sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1794425744.45488238 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1794425744.60535216 seconds ×3 + 2.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.68sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1794425745.27287245 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.74sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.104188 ms (missed cycles : 2). + 2.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.104188 ms (missed cycles : 2).[0m ×2 + 2.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1794425745.32304239 seconds ×3 + 3.40sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.40sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.48sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1794425746.03538156 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.49sINFOobjective_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 + 3.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.49sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.49sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.50sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.50sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.57sINFOobjective_server_nodeFound path in 0 iterations (1.5841e-05 s). ×2 + 3.58sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.59sINFOros2_control_node[2026-11-11 19:35:46.141] [info] Received new action goal ×2 + 3.59sINFOros2_control_node[2026-11-11 19:35:46.141] [info] Accepted new action goal ×2 + 5.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.05sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). ×2 + 6.06sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.07sINFOros2_control_node[2026-11-11 19:35:48.629] [info] Received new action goal ×2 + 6.08sINFOros2_control_node[2026-11-11 19:35:48.629] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_cartesian_pose_jtc.xml | 0.0s | 3 warnings · 322 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1794425742.55501580 seconds ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.03sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 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: ×10 + 0.56sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.56sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.56sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.56sINFOobjective_server_nodecaller: ×10 + 0.56sINFOobjective_server_nodetype: 0 ×10 + 0.56sINFOobjective_server_nodename: "" ×10 + 0.56sINFOobjective_server_nodeinstance_id: "" ×10 + 0.56sINFOobjective_server_node ×10 + 0.60sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1794425743.15414762 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.60sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.60sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.66sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1794425743.21432042 seconds ×3 + 1.19sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.26sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.31sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1794425743.86065555 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.33sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1794425743.88081050 seconds ×3 + 1.86sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.86sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.90sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1794425744.45488238 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1794425744.60535216 seconds ×3 + 2.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.68sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1794425745.27287245 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.74sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.104188 ms (missed cycles : 2). + 2.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.104188 ms (missed cycles : 2).[0m ×2 + 2.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1794425745.32304239 seconds ×3 + 3.40sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.40sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.48sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1794425746.03538156 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.49sINFOobjective_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 + 3.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.49sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.49sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.50sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.50sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.57sINFOobjective_server_nodeFound path in 0 iterations (1.5841e-05 s). ×2 + 3.58sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.59sINFOros2_control_node[2026-11-11 19:35:46.141] [info] Received new action goal ×2 + 3.59sINFOros2_control_node[2026-11-11 19:35:46.141] [info] Accepted new action goal ×2 + 5.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.05sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). ×2 + 6.06sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.07sINFOros2_control_node[2026-11-11 19:35:48.629] [info] Received new action goal ×2 + 6.08sINFOros2_control_node[2026-11-11 19:35:48.629] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_joint_state.xml | 0.0s | 3 warnings · 322 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1794425742.55501580 seconds ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.03sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 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: ×10 + 0.56sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.56sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.56sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.56sINFOobjective_server_nodecaller: ×10 + 0.56sINFOobjective_server_nodetype: 0 ×10 + 0.56sINFOobjective_server_nodename: "" ×10 + 0.56sINFOobjective_server_nodeinstance_id: "" ×10 + 0.56sINFOobjective_server_node ×10 + 0.60sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1794425743.15414762 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.60sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.60sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.66sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1794425743.21432042 seconds ×3 + 1.19sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.26sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.31sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1794425743.86065555 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.33sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1794425743.88081050 seconds ×3 + 1.86sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.86sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.90sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1794425744.45488238 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1794425744.60535216 seconds ×3 + 2.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.68sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1794425745.27287245 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.74sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.104188 ms (missed cycles : 2). + 2.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.104188 ms (missed cycles : 2).[0m ×2 + 2.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1794425745.32304239 seconds ×3 + 3.40sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.40sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.48sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1794425746.03538156 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.49sINFOobjective_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 + 3.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.49sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.49sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.50sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.50sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.57sINFOobjective_server_nodeFound path in 0 iterations (1.5841e-05 s). ×2 + 3.58sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.59sINFOros2_control_node[2026-11-11 19:35:46.141] [info] Received new action goal ×2 + 3.59sINFOros2_control_node[2026-11-11 19:35:46.141] [info] Accepted new action goal ×2 + 5.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.05sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). ×2 + 6.06sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.07sINFOros2_control_node[2026-11-11 19:35:48.629] [info] Received new action goal ×2 + 6.08sINFOros2_control_node[2026-11-11 19:35:48.629] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_named_waypoint.xml | 0.0s | 3 warnings · 322 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1794425742.55501580 seconds ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.03sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 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: ×10 + 0.56sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.56sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.56sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.56sINFOobjective_server_nodecaller: ×10 + 0.56sINFOobjective_server_nodetype: 0 ×10 + 0.56sINFOobjective_server_nodename: "" ×10 + 0.56sINFOobjective_server_nodeinstance_id: "" ×10 + 0.56sINFOobjective_server_node ×10 + 0.60sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1794425743.15414762 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.60sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.60sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.66sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1794425743.21432042 seconds ×3 + 1.19sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.26sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.31sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1794425743.86065555 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.33sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1794425743.88081050 seconds ×3 + 1.86sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.86sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.90sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1794425744.45488238 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1794425744.60535216 seconds ×3 + 2.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.68sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1794425745.27287245 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.74sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.104188 ms (missed cycles : 2). + 2.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.104188 ms (missed cycles : 2).[0m ×2 + 2.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1794425745.32304239 seconds ×3 + 3.40sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.40sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.48sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1794425746.03538156 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.49sINFOobjective_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 + 3.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.49sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.49sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.50sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.50sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.57sINFOobjective_server_nodeFound path in 0 iterations (1.5841e-05 s). ×2 + 3.58sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.59sINFOros2_control_node[2026-11-11 19:35:46.141] [info] Received new action goal ×2 + 3.59sINFOros2_control_node[2026-11-11 19:35:46.141] [info] Accepted new action goal ×2 + 5.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.05sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). ×2 + 6.06sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.07sINFOros2_control_node[2026-11-11 19:35:48.629] [info] Received new action goal ×2 + 6.08sINFOros2_control_node[2026-11-11 19:35:48.629] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_named_waypoint_jtc.xml | 0.0s | 3 warnings · 322 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1794425742.55501580 seconds ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.03sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 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: ×10 + 0.56sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.56sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.56sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.56sINFOobjective_server_nodecaller: ×10 + 0.56sINFOobjective_server_nodetype: 0 ×10 + 0.56sINFOobjective_server_nodename: "" ×10 + 0.56sINFOobjective_server_nodeinstance_id: "" ×10 + 0.56sINFOobjective_server_node ×10 + 0.60sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1794425743.15414762 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.60sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.60sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.66sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1794425743.21432042 seconds ×3 + 1.19sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.26sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.31sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1794425743.86065555 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.33sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1794425743.88081050 seconds ×3 + 1.86sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.86sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.90sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1794425744.45488238 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1794425744.60535216 seconds ×3 + 2.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.68sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1794425745.27287245 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.74sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.104188 ms (missed cycles : 2). + 2.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.104188 ms (missed cycles : 2).[0m ×2 + 2.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1794425745.32304239 seconds ×3 + 3.40sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.40sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.48sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1794425746.03538156 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.49sINFOobjective_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 + 3.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.49sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.49sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.50sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.50sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.57sINFOobjective_server_nodeFound path in 0 iterations (1.5841e-05 s). ×2 + 3.58sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.59sINFOros2_control_node[2026-11-11 19:35:46.141] [info] Received new action goal ×2 + 3.59sINFOros2_control_node[2026-11-11 19:35:46.141] [info] Accepted new action goal ×2 + 5.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.05sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). ×2 + 6.06sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.07sINFOros2_control_node[2026-11-11 19:35:48.629] [info] Received new action goal ×2 + 6.08sINFOros2_control_node[2026-11-11 19:35:48.629] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_pose.xml | 0.0s | 3 warnings · 322 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1794425742.55501580 seconds ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.03sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 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: ×10 + 0.56sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.56sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.56sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.56sINFOobjective_server_nodecaller: ×10 + 0.56sINFOobjective_server_nodetype: 0 ×10 + 0.56sINFOobjective_server_nodename: "" ×10 + 0.56sINFOobjective_server_nodeinstance_id: "" ×10 + 0.56sINFOobjective_server_node ×10 + 0.60sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1794425743.15414762 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.60sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.60sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.66sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1794425743.21432042 seconds ×3 + 1.19sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.26sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.31sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1794425743.86065555 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.33sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1794425743.88081050 seconds ×3 + 1.86sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.86sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.90sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1794425744.45488238 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1794425744.60535216 seconds ×3 + 2.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.68sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1794425745.27287245 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.74sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.104188 ms (missed cycles : 2). + 2.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.104188 ms (missed cycles : 2).[0m ×2 + 2.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1794425745.32304239 seconds ×3 + 3.40sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.40sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.48sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1794425746.03538156 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.49sINFOobjective_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 + 3.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.49sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.49sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.50sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.50sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.57sINFOobjective_server_nodeFound path in 0 iterations (1.5841e-05 s). ×2 + 3.58sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.59sINFOros2_control_node[2026-11-11 19:35:46.141] [info] Received new action goal ×2 + 3.59sINFOros2_control_node[2026-11-11 19:35:46.141] [info] Accepted new action goal ×2 + 5.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.05sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). ×2 + 6.06sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.07sINFOros2_control_node[2026-11-11 19:35:48.629] [info] Received new action goal ×2 + 6.08sINFOros2_control_node[2026-11-11 19:35:48.629] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_pose_jtc.xml | 0.0s | 3 warnings · 322 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1794425742.55501580 seconds ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.03sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 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: ×10 + 0.56sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.56sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.56sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.56sINFOobjective_server_nodecaller: ×10 + 0.56sINFOobjective_server_nodetype: 0 ×10 + 0.56sINFOobjective_server_nodename: "" ×10 + 0.56sINFOobjective_server_nodeinstance_id: "" ×10 + 0.56sINFOobjective_server_node ×10 + 0.60sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1794425743.15414762 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.60sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.60sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.66sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1794425743.21432042 seconds ×3 + 1.19sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.26sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.31sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1794425743.86065555 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.33sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1794425743.88081050 seconds ×3 + 1.86sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.86sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.90sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1794425744.45488238 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1794425744.60535216 seconds ×3 + 2.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.68sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1794425745.27287245 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.74sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.104188 ms (missed cycles : 2). + 2.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.104188 ms (missed cycles : 2).[0m ×2 + 2.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1794425745.32304239 seconds ×3 + 3.40sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.40sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.48sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1794425746.03538156 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.49sINFOobjective_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 + 3.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.49sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.49sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.50sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.50sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.57sINFOobjective_server_nodeFound path in 0 iterations (1.5841e-05 s). ×2 + 3.58sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.59sINFOros2_control_node[2026-11-11 19:35:46.141] [info] Received new action goal ×2 + 3.59sINFOros2_control_node[2026-11-11 19:35:46.141] [info] Accepted new action goal ×2 + 5.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.05sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). ×2 + 6.06sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.07sINFOros2_control_node[2026-11-11 19:35:48.629] [info] Received new action goal ×2 + 6.08sINFOros2_control_node[2026-11-11 19:35:48.629] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_waypoint.xml | 0.0s | 3 warnings · 322 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1794425742.55501580 seconds ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.03sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 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: ×10 + 0.56sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.56sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.56sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.56sINFOobjective_server_nodecaller: ×10 + 0.56sINFOobjective_server_nodetype: 0 ×10 + 0.56sINFOobjective_server_nodename: "" ×10 + 0.56sINFOobjective_server_nodeinstance_id: "" ×10 + 0.56sINFOobjective_server_node ×10 + 0.60sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1794425743.15414762 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.60sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.60sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.66sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1794425743.21432042 seconds ×3 + 1.19sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.26sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.31sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1794425743.86065555 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.33sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1794425743.88081050 seconds ×3 + 1.86sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.86sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.90sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1794425744.45488238 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1794425744.60535216 seconds ×3 + 2.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.68sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1794425745.27287245 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.74sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.104188 ms (missed cycles : 2). + 2.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.104188 ms (missed cycles : 2).[0m ×2 + 2.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1794425745.32304239 seconds ×3 + 3.40sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.40sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.48sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1794425746.03538156 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.49sINFOobjective_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 + 3.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.49sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.49sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.50sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.50sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.57sINFOobjective_server_nodeFound path in 0 iterations (1.5841e-05 s). ×2 + 3.58sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.59sINFOros2_control_node[2026-11-11 19:35:46.141] [info] Received new action goal ×2 + 3.59sINFOros2_control_node[2026-11-11 19:35:46.141] [info] Accepted new action goal ×2 + 5.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.05sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). ×2 + 6.06sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.07sINFOros2_control_node[2026-11-11 19:35:48.629] [info] Received new action goal ×2 + 6.08sINFOros2_control_node[2026-11-11 19:35:48.629] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_waypoint_jtc.xml | 0.0s | 3 warnings · 322 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1794425742.55501580 seconds ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.03sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 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: ×10 + 0.56sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.56sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.56sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.56sINFOobjective_server_nodecaller: ×10 + 0.56sINFOobjective_server_nodetype: 0 ×10 + 0.56sINFOobjective_server_nodename: "" ×10 + 0.56sINFOobjective_server_nodeinstance_id: "" ×10 + 0.56sINFOobjective_server_node ×10 + 0.60sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1794425743.15414762 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.60sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.60sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.66sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1794425743.21432042 seconds ×3 + 1.19sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.26sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.31sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1794425743.86065555 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.33sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1794425743.88081050 seconds ×3 + 1.86sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.86sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.90sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1794425744.45488238 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1794425744.60535216 seconds ×3 + 2.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.68sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1794425745.27287245 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.74sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.104188 ms (missed cycles : 2). + 2.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.104188 ms (missed cycles : 2).[0m ×2 + 2.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1794425745.32304239 seconds ×3 + 3.40sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.40sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.48sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1794425746.03538156 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.49sINFOobjective_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 + 3.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.49sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.49sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.50sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.50sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.57sINFOobjective_server_nodeFound path in 0 iterations (1.5841e-05 s). ×2 + 3.58sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.59sINFOros2_control_node[2026-11-11 19:35:46.141] [info] Received new action goal ×2 + 3.59sINFOros2_control_node[2026-11-11 19:35:46.141] [info] Accepted new action goal ×2 + 5.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.05sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). ×2 + 6.06sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.07sINFOros2_control_node[2026-11-11 19:35:48.629] [info] Received new action goal ×2 + 6.08sINFOros2_control_node[2026-11-11 19:35:48.629] [info] Accepted new action goal ×2 | ||||
| − skipped | — | plan_path_with_mtc.xml | 0.0s | 3 warnings · 322 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1794425742.55501580 seconds ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.03sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 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: ×10 + 0.56sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.56sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.56sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.56sINFOobjective_server_nodecaller: ×10 + 0.56sINFOobjective_server_nodetype: 0 ×10 + 0.56sINFOobjective_server_nodename: "" ×10 + 0.56sINFOobjective_server_nodeinstance_id: "" ×10 + 0.56sINFOobjective_server_node ×10 + 0.60sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1794425743.15414762 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.60sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.60sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.66sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1794425743.21432042 seconds ×3 + 1.19sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.26sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.31sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1794425743.86065555 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.33sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1794425743.88081050 seconds ×3 + 1.86sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.86sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.90sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1794425744.45488238 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1794425744.60535216 seconds ×3 + 2.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.68sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1794425745.27287245 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.74sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.104188 ms (missed cycles : 2). + 2.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.104188 ms (missed cycles : 2).[0m ×2 + 2.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1794425745.32304239 seconds ×3 + 3.40sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.40sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.48sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1794425746.03538156 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.49sINFOobjective_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 + 3.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.49sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.49sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.50sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.50sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.57sINFOobjective_server_nodeFound path in 0 iterations (1.5841e-05 s). ×2 + 3.58sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.59sINFOros2_control_node[2026-11-11 19:35:46.141] [info] Received new action goal ×2 + 3.59sINFOros2_control_node[2026-11-11 19:35:46.141] [info] Accepted new action goal ×2 + 5.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.05sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). ×2 + 6.06sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.07sINFOros2_control_node[2026-11-11 19:35:48.629] [info] Received new action goal ×2 + 6.08sINFOros2_control_node[2026-11-11 19:35:48.629] [info] Accepted new action goal ×2 | ||||
| − skipped | — | record_teleop_trajectory.xml | 0.0s | 3 warnings · 322 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1794425742.55501580 seconds ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.03sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 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: ×10 + 0.56sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.56sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.56sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.56sINFOobjective_server_nodecaller: ×10 + 0.56sINFOobjective_server_nodetype: 0 ×10 + 0.56sINFOobjective_server_nodename: "" ×10 + 0.56sINFOobjective_server_nodeinstance_id: "" ×10 + 0.56sINFOobjective_server_node ×10 + 0.60sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1794425743.15414762 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.60sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.60sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.66sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1794425743.21432042 seconds ×3 + 1.19sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.26sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.31sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1794425743.86065555 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.33sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1794425743.88081050 seconds ×3 + 1.86sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.86sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.90sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1794425744.45488238 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1794425744.60535216 seconds ×3 + 2.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.68sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1794425745.27287245 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.74sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.104188 ms (missed cycles : 2). + 2.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.104188 ms (missed cycles : 2).[0m ×2 + 2.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1794425745.32304239 seconds ×3 + 3.40sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.40sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.48sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1794425746.03538156 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.49sINFOobjective_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 + 3.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.49sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.49sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.50sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.50sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.57sINFOobjective_server_nodeFound path in 0 iterations (1.5841e-05 s). ×2 + 3.58sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.59sINFOros2_control_node[2026-11-11 19:35:46.141] [info] Received new action goal ×2 + 3.59sINFOros2_control_node[2026-11-11 19:35:46.141] [info] Accepted new action goal ×2 + 5.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.05sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). ×2 + 6.06sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.07sINFOros2_control_node[2026-11-11 19:35:48.629] [info] Received new action goal ×2 + 6.08sINFOros2_control_node[2026-11-11 19:35:48.629] [info] Accepted new action goal ×2 | ||||
| − skipped | — | track_moving_frame.xml | 0.0s | 3 warnings · 322 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1794425742.55501580 seconds ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.03sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 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: ×10 + 0.56sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.56sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.56sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.56sINFOobjective_server_nodecaller: ×10 + 0.56sINFOobjective_server_nodetype: 0 ×10 + 0.56sINFOobjective_server_nodename: "" ×10 + 0.56sINFOobjective_server_nodeinstance_id: "" ×10 + 0.56sINFOobjective_server_node ×10 + 0.60sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1794425743.15414762 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.60sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.60sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.66sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1794425743.21432042 seconds ×3 + 1.19sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.26sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.31sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1794425743.86065555 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.33sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1794425743.88081050 seconds ×3 + 1.86sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.86sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.90sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1794425744.45488238 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1794425744.60535216 seconds ×3 + 2.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.68sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1794425745.27287245 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.74sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.104188 ms (missed cycles : 2). + 2.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.104188 ms (missed cycles : 2).[0m ×2 + 2.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1794425745.32304239 seconds ×3 + 3.40sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.40sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.48sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1794425746.03538156 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.49sINFOobjective_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 + 3.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.49sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.49sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.50sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.50sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.57sINFOobjective_server_nodeFound path in 0 iterations (1.5841e-05 s). ×2 + 3.58sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.59sINFOros2_control_node[2026-11-11 19:35:46.141] [info] Received new action goal ×2 + 3.59sINFOros2_control_node[2026-11-11 19:35:46.141] [info] Accepted new action goal ×2 + 5.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.05sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). ×2 + 6.06sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.07sINFOros2_control_node[2026-11-11 19:35:48.629] [info] Received new action goal ×2 + 6.08sINFOros2_control_node[2026-11-11 19:35:48.629] [info] Accepted new action goal ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/mujoco1 pass
| ✓ passed | — | reset_mujoco_sim.xml | 0.6s | 3 warnings · 322 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1794425742.55501580 seconds ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.03sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 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: ×10 + 0.56sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.56sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.56sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.56sINFOobjective_server_nodecaller: ×10 + 0.56sINFOobjective_server_nodetype: 0 ×10 + 0.56sINFOobjective_server_nodename: "" ×10 + 0.56sINFOobjective_server_nodeinstance_id: "" ×10 + 0.56sINFOobjective_server_node ×10 + 0.60sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1794425743.15414762 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.60sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.60sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.66sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1794425743.21432042 seconds ×3 + 1.19sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.26sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.31sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1794425743.86065555 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.33sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1794425743.88081050 seconds ×3 + 1.86sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.86sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.90sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1794425744.45488238 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1794425744.60535216 seconds ×3 + 2.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.68sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1794425745.27287245 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.74sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.104188 ms (missed cycles : 2). + 2.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.104188 ms (missed cycles : 2).[0m ×2 + 2.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1794425745.32304239 seconds ×3 + 3.40sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.40sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.48sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1794425746.03538156 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.49sINFOobjective_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 + 3.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.49sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.49sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.50sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.50sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.57sINFOobjective_server_nodeFound path in 0 iterations (1.5841e-05 s). ×2 + 3.58sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.59sINFOros2_control_node[2026-11-11 19:35:46.141] [info] Received new action goal ×2 + 3.59sINFOros2_control_node[2026-11-11 19:35:46.141] [info] Accepted new action goal ×2 + 5.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.05sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). ×2 + 6.06sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.07sINFOros2_control_node[2026-11-11 19:35:48.629] [info] Received new action goal ×2 + 6.08sINFOros2_control_node[2026-11-11 19:35:48.629] [info] Accepted new action goal ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/perception8 skip
| − skipped | — | calibrate_camera_intrinsics.xml | 0.0s | 3 warnings · 322 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1794425742.55501580 seconds ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.03sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 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: ×10 + 0.56sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.56sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.56sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.56sINFOobjective_server_nodecaller: ×10 + 0.56sINFOobjective_server_nodetype: 0 ×10 + 0.56sINFOobjective_server_nodename: "" ×10 + 0.56sINFOobjective_server_nodeinstance_id: "" ×10 + 0.56sINFOobjective_server_node ×10 + 0.60sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1794425743.15414762 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.60sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.60sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.66sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1794425743.21432042 seconds ×3 + 1.19sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.26sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.31sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1794425743.86065555 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.33sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1794425743.88081050 seconds ×3 + 1.86sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.86sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.90sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1794425744.45488238 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1794425744.60535216 seconds ×3 + 2.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.68sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1794425745.27287245 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.74sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.104188 ms (missed cycles : 2). + 2.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.104188 ms (missed cycles : 2).[0m ×2 + 2.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1794425745.32304239 seconds ×3 + 3.40sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.40sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.48sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1794425746.03538156 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.49sINFOobjective_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 + 3.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.49sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.49sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.50sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.50sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.57sINFOobjective_server_nodeFound path in 0 iterations (1.5841e-05 s). ×2 + 3.58sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.59sINFOros2_control_node[2026-11-11 19:35:46.141] [info] Received new action goal ×2 + 3.59sINFOros2_control_node[2026-11-11 19:35:46.141] [info] Accepted new action goal ×2 + 5.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.05sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). ×2 + 6.06sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.07sINFOros2_control_node[2026-11-11 19:35:48.629] [info] Received new action goal ×2 + 6.08sINFOros2_control_node[2026-11-11 19:35:48.629] [info] Accepted new action goal ×2 | ||||
| − skipped | — | calibrate_eye_in_hand_camera.xml | 0.0s | 3 warnings · 322 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1794425742.55501580 seconds ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.03sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 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: ×10 + 0.56sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.56sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.56sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.56sINFOobjective_server_nodecaller: ×10 + 0.56sINFOobjective_server_nodetype: 0 ×10 + 0.56sINFOobjective_server_nodename: "" ×10 + 0.56sINFOobjective_server_nodeinstance_id: "" ×10 + 0.56sINFOobjective_server_node ×10 + 0.60sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1794425743.15414762 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.60sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.60sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.66sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1794425743.21432042 seconds ×3 + 1.19sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.26sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.31sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1794425743.86065555 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.33sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1794425743.88081050 seconds ×3 + 1.86sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.86sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.90sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1794425744.45488238 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1794425744.60535216 seconds ×3 + 2.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.68sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1794425745.27287245 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.74sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.104188 ms (missed cycles : 2). + 2.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.104188 ms (missed cycles : 2).[0m ×2 + 2.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1794425745.32304239 seconds ×3 + 3.40sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.40sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.48sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1794425746.03538156 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.49sINFOobjective_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 + 3.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.49sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.49sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.50sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.50sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.57sINFOobjective_server_nodeFound path in 0 iterations (1.5841e-05 s). ×2 + 3.58sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.59sINFOros2_control_node[2026-11-11 19:35:46.141] [info] Received new action goal ×2 + 3.59sINFOros2_control_node[2026-11-11 19:35:46.141] [info] Accepted new action goal ×2 + 5.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.05sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). ×2 + 6.06sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.07sINFOros2_control_node[2026-11-11 19:35:48.629] [info] Received new action goal ×2 + 6.08sINFOros2_control_node[2026-11-11 19:35:48.629] [info] Accepted new action goal ×2 | ||||
| − skipped | — | calibrate_eye_to_hand_camera.xml | 0.0s | 3 warnings · 322 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1794425742.55501580 seconds ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.03sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 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: ×10 + 0.56sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.56sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.56sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.56sINFOobjective_server_nodecaller: ×10 + 0.56sINFOobjective_server_nodetype: 0 ×10 + 0.56sINFOobjective_server_nodename: "" ×10 + 0.56sINFOobjective_server_nodeinstance_id: "" ×10 + 0.56sINFOobjective_server_node ×10 + 0.60sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1794425743.15414762 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.60sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.60sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.66sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1794425743.21432042 seconds ×3 + 1.19sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.26sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.31sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1794425743.86065555 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.33sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1794425743.88081050 seconds ×3 + 1.86sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.86sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.90sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1794425744.45488238 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1794425744.60535216 seconds ×3 + 2.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.68sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1794425745.27287245 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.74sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.104188 ms (missed cycles : 2). + 2.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.104188 ms (missed cycles : 2).[0m ×2 + 2.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1794425745.32304239 seconds ×3 + 3.40sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.40sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.48sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1794425746.03538156 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.49sINFOobjective_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 + 3.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.49sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.49sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.50sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.50sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.57sINFOobjective_server_nodeFound path in 0 iterations (1.5841e-05 s). ×2 + 3.58sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.59sINFOros2_control_node[2026-11-11 19:35:46.141] [info] Received new action goal ×2 + 3.59sINFOros2_control_node[2026-11-11 19:35:46.141] [info] Accepted new action goal ×2 + 5.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.05sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). ×2 + 6.06sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.07sINFOros2_control_node[2026-11-11 19:35:48.629] [info] Received new action goal ×2 + 6.08sINFOros2_control_node[2026-11-11 19:35:48.629] [info] Accepted new action goal ×2 | ||||
| − skipped | — | capture_calibration_sample.xml | 0.0s | 3 warnings · 322 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1794425742.55501580 seconds ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.03sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 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: ×10 + 0.56sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.56sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.56sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.56sINFOobjective_server_nodecaller: ×10 + 0.56sINFOobjective_server_nodetype: 0 ×10 + 0.56sINFOobjective_server_nodename: "" ×10 + 0.56sINFOobjective_server_nodeinstance_id: "" ×10 + 0.56sINFOobjective_server_node ×10 + 0.60sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1794425743.15414762 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.60sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.60sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.66sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1794425743.21432042 seconds ×3 + 1.19sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.26sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.31sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1794425743.86065555 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.33sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1794425743.88081050 seconds ×3 + 1.86sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.86sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.90sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1794425744.45488238 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1794425744.60535216 seconds ×3 + 2.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.68sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1794425745.27287245 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.74sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.104188 ms (missed cycles : 2). + 2.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.104188 ms (missed cycles : 2).[0m ×2 + 2.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1794425745.32304239 seconds ×3 + 3.40sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.40sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.48sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1794425746.03538156 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.49sINFOobjective_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 + 3.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.49sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.49sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.50sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.50sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.57sINFOobjective_server_nodeFound path in 0 iterations (1.5841e-05 s). ×2 + 3.58sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.59sINFOros2_control_node[2026-11-11 19:35:46.141] [info] Received new action goal ×2 + 3.59sINFOros2_control_node[2026-11-11 19:35:46.141] [info] Accepted new action goal ×2 + 5.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.05sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). ×2 + 6.06sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.07sINFOros2_control_node[2026-11-11 19:35:48.629] [info] Received new action goal ×2 + 6.08sINFOros2_control_node[2026-11-11 19:35:48.629] [info] Accepted new action goal ×2 | ||||
| − skipped | — | capture_camera_point_cloud.xml | 0.0s | 3 warnings · 322 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1794425742.55501580 seconds ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.03sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 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: ×10 + 0.56sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.56sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.56sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.56sINFOobjective_server_nodecaller: ×10 + 0.56sINFOobjective_server_nodetype: 0 ×10 + 0.56sINFOobjective_server_nodename: "" ×10 + 0.56sINFOobjective_server_nodeinstance_id: "" ×10 + 0.56sINFOobjective_server_node ×10 + 0.60sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1794425743.15414762 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.60sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.60sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.66sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1794425743.21432042 seconds ×3 + 1.19sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.26sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.31sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1794425743.86065555 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.33sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1794425743.88081050 seconds ×3 + 1.86sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.86sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.90sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1794425744.45488238 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1794425744.60535216 seconds ×3 + 2.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.68sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1794425745.27287245 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.74sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.104188 ms (missed cycles : 2). + 2.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.104188 ms (missed cycles : 2).[0m ×2 + 2.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1794425745.32304239 seconds ×3 + 3.40sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.40sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.48sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1794425746.03538156 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.49sINFOobjective_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 + 3.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.49sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.49sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.50sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.50sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.57sINFOobjective_server_nodeFound path in 0 iterations (1.5841e-05 s). ×2 + 3.58sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.59sINFOros2_control_node[2026-11-11 19:35:46.141] [info] Received new action goal ×2 + 3.59sINFOros2_control_node[2026-11-11 19:35:46.141] [info] Accepted new action goal ×2 + 5.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.05sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). ×2 + 6.06sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.07sINFOros2_control_node[2026-11-11 19:35:48.629] [info] Received new action goal ×2 + 6.08sINFOros2_control_node[2026-11-11 19:35:48.629] [info] Accepted new action goal ×2 | ||||
| − skipped | — | collect_calibration_samples.xml | 0.0s | 3 warnings · 322 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1794425742.55501580 seconds ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.03sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 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: ×10 + 0.56sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.56sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.56sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.56sINFOobjective_server_nodecaller: ×10 + 0.56sINFOobjective_server_nodetype: 0 ×10 + 0.56sINFOobjective_server_nodename: "" ×10 + 0.56sINFOobjective_server_nodeinstance_id: "" ×10 + 0.56sINFOobjective_server_node ×10 + 0.60sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1794425743.15414762 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.60sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.60sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.66sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1794425743.21432042 seconds ×3 + 1.19sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.26sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.31sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1794425743.86065555 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.33sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1794425743.88081050 seconds ×3 + 1.86sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.86sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.90sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1794425744.45488238 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1794425744.60535216 seconds ×3 + 2.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.68sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1794425745.27287245 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.74sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.104188 ms (missed cycles : 2). + 2.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.104188 ms (missed cycles : 2).[0m ×2 + 2.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1794425745.32304239 seconds ×3 + 3.40sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.40sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.48sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1794425746.03538156 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.49sINFOobjective_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 + 3.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.49sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.49sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.50sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.50sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.57sINFOobjective_server_nodeFound path in 0 iterations (1.5841e-05 s). ×2 + 3.58sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.59sINFOros2_control_node[2026-11-11 19:35:46.141] [info] Received new action goal ×2 + 3.59sINFOros2_control_node[2026-11-11 19:35:46.141] [info] Accepted new action goal ×2 + 5.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.05sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). ×2 + 6.06sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.07sINFOros2_control_node[2026-11-11 19:35:48.629] [info] Received new action goal ×2 + 6.08sINFOros2_control_node[2026-11-11 19:35:48.629] [info] Accepted new action goal ×2 | ||||
| − skipped | — | generate_calibration_waypoints.xml | 0.0s | 3 warnings · 322 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1794425742.55501580 seconds ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.03sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 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: ×10 + 0.56sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.56sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.56sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.56sINFOobjective_server_nodecaller: ×10 + 0.56sINFOobjective_server_nodetype: 0 ×10 + 0.56sINFOobjective_server_nodename: "" ×10 + 0.56sINFOobjective_server_nodeinstance_id: "" ×10 + 0.56sINFOobjective_server_node ×10 + 0.60sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1794425743.15414762 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.60sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.60sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.66sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1794425743.21432042 seconds ×3 + 1.19sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.26sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.31sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1794425743.86065555 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.33sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1794425743.88081050 seconds ×3 + 1.86sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.86sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.90sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1794425744.45488238 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1794425744.60535216 seconds ×3 + 2.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.68sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1794425745.27287245 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.74sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.104188 ms (missed cycles : 2). + 2.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.104188 ms (missed cycles : 2).[0m ×2 + 2.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1794425745.32304239 seconds ×3 + 3.40sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.40sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.48sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1794425746.03538156 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.49sINFOobjective_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 + 3.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.49sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.49sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.50sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.50sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.57sINFOobjective_server_nodeFound path in 0 iterations (1.5841e-05 s). ×2 + 3.58sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.59sINFOros2_control_node[2026-11-11 19:35:46.141] [info] Received new action goal ×2 + 3.59sINFOros2_control_node[2026-11-11 19:35:46.141] [info] Accepted new action goal ×2 + 5.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.05sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). ×2 + 6.06sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.07sINFOros2_control_node[2026-11-11 19:35:48.629] [info] Received new action goal ×2 + 6.08sINFOros2_control_node[2026-11-11 19:35:48.629] [info] Accepted new action goal ×2 | ||||
| − skipped | — | get_imarker_pose_from_mesh_visualization.xml | 0.0s | 3 warnings · 322 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1794425742.55501580 seconds ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.03sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 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: ×10 + 0.56sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.56sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.56sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.56sINFOobjective_server_nodecaller: ×10 + 0.56sINFOobjective_server_nodetype: 0 ×10 + 0.56sINFOobjective_server_nodename: "" ×10 + 0.56sINFOobjective_server_nodeinstance_id: "" ×10 + 0.56sINFOobjective_server_node ×10 + 0.60sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1794425743.15414762 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.60sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.60sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.66sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1794425743.21432042 seconds ×3 + 1.19sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.26sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.31sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1794425743.86065555 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.33sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1794425743.88081050 seconds ×3 + 1.86sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.86sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.90sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1794425744.45488238 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1794425744.60535216 seconds ×3 + 2.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.68sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1794425745.27287245 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.74sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.104188 ms (missed cycles : 2). + 2.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.104188 ms (missed cycles : 2).[0m ×2 + 2.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1794425745.32304239 seconds ×3 + 3.40sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.40sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.48sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1794425746.03538156 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.49sINFOobjective_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 + 3.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.49sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.49sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.50sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.50sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.57sINFOobjective_server_nodeFound path in 0 iterations (1.5841e-05 s). ×2 + 3.58sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.59sINFOros2_control_node[2026-11-11 19:35:46.141] [info] Received new action goal ×2 + 3.59sINFOros2_control_node[2026-11-11 19:35:46.141] [info] Accepted new action goal ×2 + 5.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.05sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). ×2 + 6.06sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.07sINFOros2_control_node[2026-11-11 19:35:48.629] [info] Received new action goal ×2 + 6.08sINFOros2_control_node[2026-11-11 19:35:48.629] [info] Accepted new action goal ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/visualization3 skip
| − skipped | — | interactive_marker_visualization.xml | 0.0s | 3 warnings · 322 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1794425742.55501580 seconds ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.03sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 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: ×10 + 0.56sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.56sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.56sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.56sINFOobjective_server_nodecaller: ×10 + 0.56sINFOobjective_server_nodetype: 0 ×10 + 0.56sINFOobjective_server_nodename: "" ×10 + 0.56sINFOobjective_server_nodeinstance_id: "" ×10 + 0.56sINFOobjective_server_node ×10 + 0.60sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1794425743.15414762 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.60sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.60sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.66sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1794425743.21432042 seconds ×3 + 1.19sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.26sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.31sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1794425743.86065555 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.33sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1794425743.88081050 seconds ×3 + 1.86sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.86sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.90sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1794425744.45488238 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1794425744.60535216 seconds ×3 + 2.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.68sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1794425745.27287245 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.74sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.104188 ms (missed cycles : 2). + 2.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.104188 ms (missed cycles : 2).[0m ×2 + 2.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1794425745.32304239 seconds ×3 + 3.40sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.40sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.48sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1794425746.03538156 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.49sINFOobjective_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 + 3.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.49sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.49sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.50sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.50sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.57sINFOobjective_server_nodeFound path in 0 iterations (1.5841e-05 s). ×2 + 3.58sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.59sINFOros2_control_node[2026-11-11 19:35:46.141] [info] Received new action goal ×2 + 3.59sINFOros2_control_node[2026-11-11 19:35:46.141] [info] Accepted new action goal ×2 + 5.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.05sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). ×2 + 6.06sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.07sINFOros2_control_node[2026-11-11 19:35:48.629] [info] Received new action goal ×2 + 6.08sINFOros2_control_node[2026-11-11 19:35:48.629] [info] Accepted new action goal ×2 | ||||
| − skipped | — | interactive_marker_visualization_example.xml | 0.0s | 3 warnings · 322 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1794425742.55501580 seconds ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.03sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 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: ×10 + 0.56sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.56sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.56sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.56sINFOobjective_server_nodecaller: ×10 + 0.56sINFOobjective_server_nodetype: 0 ×10 + 0.56sINFOobjective_server_nodename: "" ×10 + 0.56sINFOobjective_server_nodeinstance_id: "" ×10 + 0.56sINFOobjective_server_node ×10 + 0.60sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1794425743.15414762 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.60sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.60sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.66sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1794425743.21432042 seconds ×3 + 1.19sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.26sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.31sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1794425743.86065555 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.33sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1794425743.88081050 seconds ×3 + 1.86sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.86sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.90sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1794425744.45488238 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1794425744.60535216 seconds ×3 + 2.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.68sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1794425745.27287245 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.74sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.104188 ms (missed cycles : 2). + 2.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.104188 ms (missed cycles : 2).[0m ×2 + 2.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1794425745.32304239 seconds ×3 + 3.40sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.40sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.48sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1794425746.03538156 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.49sINFOobjective_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 + 3.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.49sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.49sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.50sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.50sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.57sINFOobjective_server_nodeFound path in 0 iterations (1.5841e-05 s). ×2 + 3.58sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.59sINFOros2_control_node[2026-11-11 19:35:46.141] [info] Received new action goal ×2 + 3.59sINFOros2_control_node[2026-11-11 19:35:46.141] [info] Accepted new action goal ×2 + 5.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.05sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). ×2 + 6.06sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.07sINFOros2_control_node[2026-11-11 19:35:48.629] [info] Received new action goal ×2 + 6.08sINFOros2_control_node[2026-11-11 19:35:48.629] [info] Accepted new action goal ×2 | ||||
| − skipped | — | visualize_tf.xml | 0.0s | 3 warnings · 322 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1794425742.55501580 seconds ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.03sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 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: ×10 + 0.56sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.56sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.56sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.56sINFOobjective_server_nodecaller: ×10 + 0.56sINFOobjective_server_nodetype: 0 ×10 + 0.56sINFOobjective_server_nodename: "" ×10 + 0.56sINFOobjective_server_nodeinstance_id: "" ×10 + 0.56sINFOobjective_server_node ×10 + 0.60sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1794425743.15414762 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.60sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.60sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.66sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1794425743.21432042 seconds ×3 + 1.19sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.26sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.31sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1794425743.86065555 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.33sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1794425743.88081050 seconds ×3 + 1.86sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.86sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.90sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1794425744.45488238 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1794425744.60535216 seconds ×3 + 2.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.68sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1794425745.27287245 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.74sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.104188 ms (missed cycles : 2). + 2.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.104188 ms (missed cycles : 2).[0m ×2 + 2.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1794425745.32304239 seconds ×3 + 3.40sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.40sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.48sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1794425746.03538156 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.49sINFOobjective_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 + 3.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.49sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.49sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.50sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.50sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.57sINFOobjective_server_nodeFound path in 0 iterations (1.5841e-05 s). ×2 + 3.58sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.59sINFOros2_control_node[2026-11-11 19:35:46.141] [info] Received new action goal ×2 + 3.59sINFOros2_control_node[2026-11-11 19:35:46.141] [info] Accepted new action goal ×2 + 5.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.05sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). ×2 + 6.06sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.07sINFOros2_control_node[2026-11-11 19:35:48.629] [info] Received new action goal ×2 + 6.08sINFOros2_control_node[2026-11-11 19:35:48.629] [info] Accepted new action goal ×2 | ||||