136
Total objective tests
35
Objectives passed
0
Objectives failed
101
Objectives skipped
9.7s
Avg test time
100%
Objective pass rate
▾
/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/objectives31 pass60 skip
| ✓ passed | Move Flasks to Burners | move_flasks_to_burners.xml | 42.9s | 313 info |
+ 0.00sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1794440535.76206732 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 + 1.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.02sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.06sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.07sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.07sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.59sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 1.59sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 1.59sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 1.59sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 1.59sINFOobjective_server_nodeparameter_overrides: [] ×4 + 1.59sINFOobjective_server_nodecaller: ×4 + 1.59sINFOobjective_server_nodetype: 0 ×4 + 1.59sINFOobjective_server_nodename: "" ×4 + 1.59sINFOobjective_server_nodeinstance_id: "" ×4 + 1.59sINFOobjective_server_nodenode_substitutions: [] ×4 + 1.59sINFOobjective_server_node ×4 + 1.67sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1794440537.43195319 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.67sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×6 + 1.67sINFOros2_control_nodeReceived & accepted new action goal[0m ×12 + 1.75sINFOobjective_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 + 1.76sINFOobjective_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 + 2.04sINFOobjective_server_nodeFound path in 0 iterations (3.88e-07 s). ×2 + 2.04sINFOobjective_server_nodePath shortcutter: [X_____________X] ×6 + 2.07sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×21 + 2.09sINFOros2_control_node[2026-11-11 23:42:17.849] [info] Received new action goal ×2 + 2.09sINFOros2_control_node[2026-11-11 23:42:17.849] [info] Accepted new action goal ×2 + 4.94sINFOobjective_server_nodeFound path in 0 iterations (2.87e-07 s). ×2 + 4.95sINFOros2_control_node[2026-11-11 23:42:20.716] [info] Received new action goal ×2 + 4.95sINFOros2_control_node[2026-11-11 23:42:20.716] [info] Accepted new action goal ×2 + 8.07sINFOobjective_server_nodePlanning for 2 path waypoints. ×12 + 8.10sINFOros2_control_node[2026-11-11 23:42:23.856] [info] Received new action goal ×2 + 8.10sINFOros2_control_node[2026-11-11 23:42:23.856] [info] Accepted new action goal ×2 + 11.06sINFOobjective_server_nodeFound path in 0 iterations (2.73e-07 s). ×2 + 11.07sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 11.12sINFOros2_control_node[2026-11-11 23:42:26.880] [info] Received new action goal ×2 + 11.12sINFOros2_control_node[2026-11-11 23:42:26.880] [info] Accepted new action goal ×2 + 14.08sINFOobjective_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 + 14.08sINFOcontroller_managerActivating controllers: [ velocity_force_controller ] ×2 + 14.08sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 14.08sINFOros2_control_nodeActivating controllers: [ velocity_force_controller ][0m ×4 + 14.08sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 14.08sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 14.08sINFOcontroller_managerActivated controllers: [ velocity_force_controller ] ×2 + 14.08sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 14.08sINFOros2_control_nodeActivated controllers: [ velocity_force_controller ][0m ×4 + 15.83sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 21.59sINFOobjective_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 + 21.59sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 21.59sINFOcontroller_managerDeactivating controllers: [ velocity_force_controller ] ×2 + 21.59sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 21.59sINFOcontroller_managerDeactivated controllers: [ velocity_force_controller ] ×2 + 21.59sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 21.59sINFOros2_control_nodeDeactivating controllers: [ velocity_force_controller ][0m ×4 + 21.59sINFOros2_control_nodeDeactivated controllers: [ velocity_force_controller ][0m ×4 + 21.59sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 22.50sINFOros2_control_node[2026-11-11 23:42:38.265] [info] Received new action goal ×2 + 22.50sINFOros2_control_node[2026-11-11 23:42:38.265] [info] Accepted new action goal ×2 + 23.69sINFOobjective_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 + 23.70sINFOobjective_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 + 23.98sINFOobjective_server_nodeFound path in 0 iterations (6.32e-07 s). ×2 + 24.03sINFOros2_control_node[2026-11-11 23:42:39.790] [info] Received new action goal ×2 + 24.03sINFOros2_control_node[2026-11-11 23:42:39.790] [info] Accepted new action goal ×2 + 26.30sINFOobjective_server_nodeFound path in 0 iterations (2.53e-07 s). ×2 + 26.30sINFOobjective_server_nodePath shortcutter: [X___________X] ×2 + 26.32sINFOros2_control_node[2026-11-11 23:42:42.076] [info] Received new action goal ×2 + 26.32sINFOros2_control_node[2026-11-11 23:42:42.076] [info] Accepted new action goal ×2 + 29.35sINFOros2_control_node[2026-11-11 23:42:45.107] [info] Received new action goal ×2 + 29.35sINFOros2_control_node[2026-11-11 23:42:45.107] [info] Accepted new action goal ×2 + 31.95sINFOobjective_server_nodeFound path in 0 iterations (2.49e-07 s). ×2 + 31.95sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 32.00sINFOros2_control_node[2026-11-11 23:42:47.759] [info] Received new action goal ×2 + 32.00sINFOros2_control_node[2026-11-11 23:42:47.759] [info] Accepted new action goal ×2 + 42.69sINFOros2_control_node[2026-11-11 23:42:58.448] [info] Received new action goal ×2 + 42.69sINFOros2_control_node[2026-11-11 23:42:58.448] [info] Accepted new action goal ×2 + 43.84sINFOobjective_server_nodeObjective `Move Flasks to Burners` succeeded at time: 1794440579.60449076 seconds ×3 + 44.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Push Button"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 44.42sINFOobjective_server_nodeobjective_name: "Push Button" ×2 + 44.63sINFOobjective_server_nodeObjective `Push Button` starting at time: 1794440580.39631104 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 45.66sINFOobjective_server_nodeFound path in 0 iterations (3.12e-07 s). ×2 + 45.67sINFOobjective_server_nodePath shortcutter: [X___________________________X] ×2 + 45.69sINFOros2_control_node[2026-11-11 23:43:01.451] [info] Received new action goal ×2 + 45.69sINFOros2_control_node[2026-11-11 23:43:01.451] [info] Accepted new action goal ×2 | ||||
| ✓ passed | Record Surface Coverage Demo | record_surface_coverage_demo.xml | 34.5s | 20 warnings · 318 info |
+ 0.00sINFOros2_control_node[2026-11-11 23:44:54.801] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-11-11 23:44:54.801] [info] Accepted new action goal ×2 + 2.07sINFOros2_control_node[2026-11-11 23:44:56.872] [info] Received new action goal ×2 + 2.07sINFOros2_control_node[2026-11-11 23:44:56.872] [info] Accepted new action goal ×2 + 2.87sINFOobjective_server_nodeSaveJointTrajectoryToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/square_traj.yaml' under namespace '' ×3 + 2.87sINFOobjective_server_nodeObjective `Record Square Trajectory` succeeded at time: 1794440697.67062259 seconds ×3 + 2.87sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×5 + 2.87sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×10 + 2.88sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 2.88sINFOcontroller_managerSuccessfully switched controllers! ×10 + 2.88sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 2.88sINFOros2_control_nodeSuccessfully switched controllers![0m ×20 + 2.88sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×10 + 2.88sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×5 + 2.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×10 + 2.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×5 + 2.89sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×10 + 3.41sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Record Surface Coverage Demo"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 3.41sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 3.41sINFOobjective_server_nodeobjective_name: "Record Surface Coverage Demo" ×2 + 3.41sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 3.41sINFOobjective_server_nodeparameter_overrides: [] ×8 + 3.41sINFOobjective_server_nodecaller: ×8 + 3.41sINFOobjective_server_nodetype: 0 ×8 + 3.41sINFOobjective_server_nodename: "" ×8 + 3.41sINFOobjective_server_nodeinstance_id: "" ×8 + 3.41sINFOobjective_server_nodenode_substitutions: [] ×8 + 3.41sINFOobjective_server_node ×8 + 3.52sINFOobjective_server_nodeObjective `Record Surface Coverage Demo` starting at time: 1794440698.32122612 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.52sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.52sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.44sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×15 + 4.53sINFOobjective_server_nodeFound path in 0 iterations (2.95e-07 s). ×2 + 4.53sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.54sINFOros2_control_node[2026-11-11 23:44:59.345] [info] Received new action goal ×2 + 4.54sINFOros2_control_node[2026-11-11 23:44:59.345] [info] Accepted new action goal ×2 + 6.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.223443 ms (missed cycles : 4). + 6.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.223443 ms (missed cycles : 4).[0m ×2 + 7.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.989540 ms (missed cycles : 2). + 7.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.989540 ms (missed cycles : 2).[0m ×2 + 7.95sWARNros2_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 + 8.73sINFOobjective_server_nodeGenerateSurfaceCoveragePath Info: Generated 48 coverage poses over the region's +Z face. ×3 + 8.74sINFOobjective_server_nodePlanning for 49 path waypoints. ×3 + 8.79sINFOros2_control_node[2026-11-11 23:45:03.590] [info] Received new action goal ×2 + 8.79sINFOros2_control_node[2026-11-11 23:45:03.590] [info] Accepted new action goal ×2 + 14.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.837946 ms (missed cycles : 2). + 14.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.837946 ms (missed cycles : 2).[0m ×2 + 18.58sINFOobjective_server_nodeFound path in 0 iterations (3.16e-07 s). ×2 + 18.58sINFOobjective_server_nodePath shortcutter: [X__________X] ×2 + 18.59sINFOros2_control_node[2026-11-11 23:45:13.393] [info] Received new action goal ×2 + 18.59sINFOros2_control_node[2026-11-11 23:45:13.393] [info] Accepted new action goal ×2 + 21.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.273731 ms (missed cycles : 2). + 21.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.273731 ms (missed cycles : 2).[0m ×2 + 22.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.052509 ms (missed cycles : 2). + 22.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.052509 ms (missed cycles : 2).[0m ×2 + 24.08sINFOobjective_server_nodeGenerateSurfaceCoveragePath Info: Generated 54 coverage poses over the region's +Z face. ×3 + 24.10sINFOobjective_server_nodePlanning for 55 path waypoints. ×3 + 24.15sINFOros2_control_node[2026-11-11 23:45:18.953] [info] Received new action goal ×2 + 24.15sINFOros2_control_node[2026-11-11 23:45:18.953] [info] Accepted new action goal ×2 + 33.59sINFOobjective_server_nodeFound path in 0 iterations (5.41e-07 s). ×2 + 33.60sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 33.62sINFOros2_control_node[2026-11-11 23:45:28.417] [info] Received new action goal ×2 + 33.62sINFOros2_control_node[2026-11-11 23:45:28.417] [info] Accepted new action goal ×2 + 36.80sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 37.40sINFOobjective_server_nodeObjective `Record Surface Coverage Demo` succeeded at time: 1794440732.20177722 seconds ×3 + 38.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 38.03sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 38.24sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1794440733.04084778 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 38.35sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 38.35sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 38.37sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 38.37sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 38.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.338031 ms (missed cycles : 3). + 38.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.338031 ms (missed cycles : 3).[0m ×2 + 38.39sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1794440733.19101715 seconds ×3 + 38.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 38.94sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 38.99sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1794440733.79616904 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 39.02sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 39.02sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1794440733.81768823 seconds ×3 + 39.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 39.61sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 39.68sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1794440734.47858691 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 39.78sINFOobjective_server_nodeFound path in 0 iterations (2.56e-07 s). ×2 + 39.78sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 39.79sINFOros2_control_node[2026-11-11 23:45:34.592] [info] Received new action goal ×2 + 39.79sINFOros2_control_node[2026-11-11 23:45:34.592] [info] Accepted new action goal ×2 | ||||
| ✓ passed | MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample | mpc_pose_tracking_dynamic_point_cloud_avoidance_with_sphere_down_sample.xml | 32.5s | 57 warnings · 19032 info |
+ 0.00sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1794440591.19813538 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 + 0.01sINFOros2_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: ""
node_substitutions: []
+ 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_nodenode_substitutions: [] ×4 + 0.54sINFOobjective_server_node ×4 + 0.61sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1794440591.81006432 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.68sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×15 + 0.80sINFOobjective_server_nodeFound path in 0 iterations (4.52e-07 s). ×2 + 0.80sINFOobjective_server_nodePath shortcutter: [X____X] ×4 + 0.81sINFOros2_control_node[2026-11-11 23:43:12.004] [info] Received new action goal ×2 + 0.81sINFOros2_control_node[2026-11-11 23:43:12.004] [info] Accepted new action goal ×2 + 2.07sINFOobjective_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 + 2.08sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 2.15sINFOobjective_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 + 2.15sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] ×2 + 2.15sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 2.15sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×4 + 2.15sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 2.15sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 2.15sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] ×2 + 2.15sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 2.15sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×4 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.699366 ms (missed cycles : 2). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.699366 ms (missed cycles : 2).[0m ×2 + 2.86sINFOjoint_trajectory_controllerReceived new action goal ×3130 + 2.86sINFOjoint_trajectory_controllerAccepted new action goal ×3130 + 2.86sINFOros2_control_nodeReceived new action goal[0m ×6260 + 2.86sINFOros2_control_nodeAccepted new action goal[0m ×6258 + 5.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.786104 ms (missed cycles : 2). + 5.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.786104 ms (missed cycles : 2).[0m ×2 + 6.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.818563 ms (missed cycles : 2). + 6.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.818563 ms (missed cycles : 2).[0m ×2 + 8.15sINFOjoint_trajectory_controllerGot request to cancel goal ×10 + 8.15sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. ×5 + 8.15sINFOros2_control_nodeGot request to cancel goal[0m ×20 + 8.15sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×10 + 8.16sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×10 + 8.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.489124 ms (missed cycles : 2). + 8.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.489124 ms (missed cycles : 2).[0m ×2 + 13.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.813330 ms (missed cycles : 2). + 13.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.813330 ms (missed cycles : 2).[0m ×2 + 14.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.470643 ms (missed cycles : 2). + 14.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.470643 ms (missed cycles : 2).[0m ×2 + 15.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.161733 ms (missed cycles : 2). + 15.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.161733 ms (missed cycles : 2).[0m ×2 + 16.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.749306 ms (missed cycles : 2). + 16.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.749306 ms (missed cycles : 2).[0m ×2 + 18.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.023284 ms (missed cycles : 2). + 18.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.023284 ms (missed cycles : 2).[0m ×2 + 19.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.862349 ms (missed cycles : 2). + 19.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.862349 ms (missed cycles : 2).[0m ×2 + 20.40sINFOros2_control_nodeMuJoCo sim: 0.02% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 20.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.731316 ms (missed cycles : 2). + 20.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.731316 ms (missed cycles : 2).[0m ×2 + 22.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.277020 ms (missed cycles : 2). + 22.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.277020 ms (missed cycles : 2).[0m ×2 + 24.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.692191 ms (missed cycles : 2). + 24.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.692191 ms (missed cycles : 2).[0m ×2 + 26.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715068 ms (missed cycles : 2). + 26.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715068 ms (missed cycles : 2).[0m ×2 + 27.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.111766 ms (missed cycles : 2). + 27.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.111766 ms (missed cycles : 2).[0m ×2 + 28.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.055761 ms (missed cycles : 2). + 28.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.055761 ms (missed cycles : 2).[0m ×2 + 29.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.924299 ms (missed cycles : 2). + 29.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.924299 ms (missed cycles : 2).[0m ×2 + 32.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.712203 ms (missed cycles : 2). + 32.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.712203 ms (missed cycles : 2).[0m ×2 + 32.50sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1794440623.69641662 seconds ×3 + 32.51sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 32.51sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 32.52sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 32.52sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 32.52sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 32.52sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 33.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 33.04sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample" ×2 + 33.15sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1794440624.34547877 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 33.20sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 33.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 33.20sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 33.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 33.20sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 33.20sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 33.20sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 33.20sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 33.20sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 33.30sINFOobjective_server_nodeFound path in 0 iterations (3.75e-07 s). ×2 + 33.31sINFOros2_control_node[2026-11-11 23:43:44.509] [info] Received new action goal ×2 + 33.31sINFOros2_control_node[2026-11-11 23:43:44.509] [info] Accepted new action goal ×2 + 35.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.776317 ms (missed cycles : 2). + 35.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.776317 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 | 45 warnings · 13484 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×2214 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×2214 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×4428 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×4428 + 0.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.924299 ms (missed cycles : 2). + 0.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.924299 ms (missed cycles : 2).[0m ×2 + 2.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.712203 ms (missed cycles : 2). + 2.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.712203 ms (missed cycles : 2).[0m ×2 + 2.95sINFOjoint_trajectory_controllerGot request to cancel goal ×4 + 2.95sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. ×2 + 2.95sINFOros2_control_nodeGot request to cancel goal[0m ×8 + 2.95sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×4 + 2.97sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1794440623.69641662 seconds ×3 + 2.97sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×2 + 2.97sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×4 + 2.97sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.97sINFOcontroller_managerSuccessfully switched controllers! ×7 + 2.97sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.97sINFOros2_control_nodeSuccessfully switched controllers![0m ×14 + 2.98sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.98sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.98sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×2 + 2.98sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×4 + 2.99sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×2 + 2.99sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×4 + 3.51sINFOobjective_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: ""
node_substitutions: []
+ 3.51sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.51sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample" ×2 + 3.51sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.51sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.51sINFOobjective_server_nodecaller: ×4 + 3.51sINFOobjective_server_nodetype: 0 ×4 + 3.51sINFOobjective_server_nodename: "" ×4 + 3.51sINFOobjective_server_nodeinstance_id: "" ×4 + 3.51sINFOobjective_server_nodenode_substitutions: [] ×4 + 3.51sINFOobjective_server_node ×4 + 3.61sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1794440624.34547877 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.67sINFOobjective_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 + 3.67sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 3.67sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] ×2 + 3.67sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 3.67sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×4 + 3.67sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] ×2 + 3.67sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 3.67sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×4 + 3.67sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 3.77sINFOobjective_server_nodeFound path in 0 iterations (3.75e-07 s). ×2 + 3.77sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 3.78sINFOros2_control_node[2026-11-11 23:43:44.509] [info] Received new action goal ×2 + 3.78sINFOros2_control_node[2026-11-11 23:43:44.509] [info] Accepted new action goal ×2 + 5.02sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×2 + 5.07sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.16727752384940525;y=0.47323919871065;z=0.7971805284211555, orientation: x=0.5894248519484582;y=0.7987881401812754;z=0.09721280806199328;w=-0.07117247333048911 ×3 + 5.11sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×3 + 5.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.11sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] + 5.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.11sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.11sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] + 5.11sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 5.11sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.11sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.776317 ms (missed cycles : 2). + 5.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.776317 ms (missed cycles : 2).[0m ×2 + 7.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.688154 ms (missed cycles : 2). + 7.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.688154 ms (missed cycles : 2).[0m ×2 + 8.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.861869 ms (missed cycles : 2). + 8.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.861869 ms (missed cycles : 2).[0m ×2 + 9.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.853741 ms (missed cycles : 2). + 9.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.853741 ms (missed cycles : 2).[0m ×2 + 11.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.139769 ms (missed cycles : 2). + 11.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.139769 ms (missed cycles : 2).[0m ×2 + 12.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.697745 ms (missed cycles : 2). + 12.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.697745 ms (missed cycles : 2).[0m ×2 + 13.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.687459 ms (missed cycles : 2). + 13.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.687459 ms (missed cycles : 2).[0m ×2 + 15.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.516568 ms (missed cycles : 2). + 15.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.516568 ms (missed cycles : 2).[0m ×2 + 16.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.873980 ms (missed cycles : 2). + 16.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.873980 ms (missed cycles : 2).[0m ×2 + 18.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.955057 ms (missed cycles : 2). + 18.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.955057 ms (missed cycles : 2).[0m ×2 + 21.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719226 ms (missed cycles : 2). + 21.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719226 ms (missed cycles : 2).[0m ×2 + 22.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.467682 ms (missed cycles : 2). + 22.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.467682 ms (missed cycles : 2).[0m ×2 + 23.11sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1794440643.84554744 seconds ×3 + 23.75sINFOobjective_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: ""
node_substitutions: []
+ 23.75sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 23.85sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1794440644.58544230 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 23.86sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 23.86sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 24.08sINFOobjective_server_nodeFound path in 0 iterations (4.97e-07 s). ×2 + 24.08sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 24.09sINFOros2_control_node[2026-11-11 23:44:04.820] [info] Received new action goal ×2 + 24.09sINFOros2_control_node[2026-11-11 23:44:04.820] [info] Accepted new action goal ×2 + 26.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.604576 ms (missed cycles : 2). + 26.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.604576 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Live Surface Coverage Demo | live_surface_coverage_demo.xml | 20.1s | 3 errors · 6 warnings · 193 info |
+ 0.00sINFOobjective_server_nodeFound path in 0 iterations (3.03e-07 s). ×2 + 0.00sINFOobjective_server_nodePath shortcutter: [X__X] ×2 + 0.00sINFOobjective_server_nodeFound path in 0 iterations (2.67e-07 s). ×2 + 0.01sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 0.02sINFOobjective_server_nodeFound path in 0 iterations (1.88e-07 s). ×2 + 0.12sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X] ×2 + 0.15sINFOobjective_server_nodeFound path in 1 iterations (0.00350492 s). ×2 + 0.32sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________________________X_________________X] ×2 + 0.38sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 0.39sINFOros2_control_node[2026-11-11 23:41:38.105] [info] Received new action goal ×2 + 0.39sINFOros2_control_node[2026-11-11 23:41:38.105] [info] Accepted new action goal ×2 + 0.82sINFOros2_control_node[2026-11-11 23:41:38.537] [info] Received new action goal ×2 + 0.82sINFOros2_control_node[2026-11-11 23:41:38.537] [info] Accepted new action goal ×2 + 2.14sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.14sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.46sINFOobjective_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 + 2.46sINFOrobotiq_gripper_controllerGot request to cancel goal + 2.46sINFOrobotiq_gripper_controllerCanceling active action goal because cancel callback received. + 2.46sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 2.46sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×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: 1794440500.20317888 seconds ×3 + 2.49sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.49sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.49sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.49sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.49sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.50sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.50sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.50sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.50sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.50sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.51sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.51sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Live Surface Coverage Demo"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 3.18sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.18sINFOobjective_server_nodeobjective_name: "Live Surface Coverage Demo" ×2 + 3.18sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.18sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.18sINFOobjective_server_nodecaller: ×4 + 3.18sINFOobjective_server_nodetype: 0 ×4 + 3.18sINFOobjective_server_nodename: "" ×4 + 3.18sINFOobjective_server_nodeinstance_id: "" ×4 + 3.18sINFOobjective_server_nodenode_substitutions: [] ×4 + 3.18sINFOobjective_server_node ×4 + 3.30sINFOobjective_server_nodeObjective `Live Surface Coverage Demo` starting at time: 1794440501.01648307 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.31sINFOobjective_server_nodeFound path in 0 iterations (2.78e-07 s). ×2 + 4.32sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.33sINFOros2_control_node[2026-11-11 23:41:42.041] [info] Received new action goal ×2 + 4.33sINFOros2_control_node[2026-11-11 23:41:42.041] [info] Accepted new action goal ×2 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.037829 ms (missed cycles : 2). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.037829 ms (missed cycles : 2).[0m ×2 + 7.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.477773 ms (missed cycles : 3). + 7.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.477773 ms (missed cycles : 3).[0m ×2 + 9.04sINFOobjective_server_nodeGenerateSurfaceCoveragePath Info: Generated 48 coverage poses over the region's +Z face. ×3 + 9.05sINFOobjective_server_nodePlanning for 49 path waypoints. ×3 + 9.10sINFOros2_control_node[2026-11-11 23:41:46.814] [info] Received new action goal ×2 + 9.10sINFOros2_control_node[2026-11-11 23:41:46.814] [info] Accepted new action goal ×2 + 18.51sINFOobjective_server_nodeLogMessage Info: Live coverage recorded. ×3 + 18.61sINFOobjective_server_nodeFound path in 0 iterations (2.43e-07 s). ×2 + 18.62sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 18.63sINFOros2_control_node[2026-11-11 23:41:56.348] [info] Received new action goal ×2 + 18.63sINFOros2_control_node[2026-11-11 23:41:56.348] [info] Accepted new action goal ×2 + 22.55sINFOobjective_server_nodeObjective `Live Surface Coverage Demo` succeeded at time: 1794440520.26260352 seconds ×3 + 23.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load and Execute Joint Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 23.08sINFOobjective_server_nodeobjective_name: "Load and Execute Joint Trajectory" ×2 + 23.24sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1794440520.95084643 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 23.40sINFOobjective_server_nodeFound path in 0 iterations (3.04e-07 s). ×2 + 23.40sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 23.41sINFOros2_control_node[2026-11-11 23:42:01.125] [info] Received new action goal ×2 + 23.41sINFOros2_control_node[2026-11-11 23:42:01.125] [info] Accepted new action goal ×2 + 25.89sINFOros2_control_node[2026-11-11 23:42:03.602] [info] Received new action goal ×2 + 25.89sINFOros2_control_node[2026-11-11 23:42:03.602] [info] Accepted new action goal ×2 | ||||
| ✓ passed | Load and Execute Joint Trajectory | load_and_execute_joint_trajectory.xml | 11.9s | 3 warnings · 209 info |
+ 0.00sINFOobjective_server_nodeObjective `Live Surface Coverage Demo` succeeded at time: 1794440520.26260352 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 + 0.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 0.00sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 0.00sINFOros2_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: ""
node_substitutions: []
+ 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_nodenode_substitutions: [] ×6 + 0.54sINFOobjective_server_node ×6 + 0.69sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1794440520.95084643 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.76sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.85sINFOobjective_server_nodeFound path in 0 iterations (3.04e-07 s). ×2 + 0.85sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 0.86sINFOros2_control_node[2026-11-11 23:42:01.125] [info] Received new action goal ×2 + 0.86sINFOros2_control_node[2026-11-11 23:42:01.125] [info] Accepted new action goal ×2 + 3.34sINFOros2_control_node[2026-11-11 23:42:03.602] [info] Received new action goal ×2 + 3.34sINFOros2_control_node[2026-11-11 23:42:03.602] [info] Accepted new action goal ×2 + 11.91sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1794440532.17460179 seconds ×3 + 12.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load MuJoCo Robot State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 12.45sINFOobjective_server_nodeobjective_name: "Load MuJoCo Robot State" ×2 + 12.51sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1794440532.76869678 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 12.55sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 12.55sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 12.56sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 12.57sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 12.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.765270 ms (missed cycles : 8). + 12.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.765270 ms (missed cycles : 8).[0m ×2 + 12.59sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1794440532.84886932 seconds ×3 + 13.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 13.32sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 13.38sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1794440533.64188576 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 13.49sINFOobjective_server_nodeFound path in 0 iterations (2.73e-07 s). ×2 + 13.49sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 13.49sINFOros2_control_node[2026-11-11 23:42:13.756] [info] Received new action goal ×2 + 13.49sINFOros2_control_node[2026-11-11 23:42:13.756] [info] Accepted new action goal ×2 + 15.50sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1794440535.76206732 seconds ×3 | ||||
| ✓ passed | Push Button | move_with_velocity_and_force.xml | 11.6s | 3 warnings · 1022 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 + 0.89sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.90sINFOros2_control_node[2026-11-11 23:42:58.448] [info] Received new action goal ×2 + 0.90sINFOros2_control_node[2026-11-11 23:42:58.448] [info] Accepted new action goal ×2 + 2.06sINFOobjective_server_nodeObjective `Move Flasks to Burners` succeeded at time: 1794440579.60449076 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 + 2.10sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.10sINFOros2_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 + 2.63sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Push Button"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 2.63sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.63sINFOobjective_server_nodeobjective_name: "Push Button" ×2 + 2.63sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.63sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.63sINFOobjective_server_nodecaller: ×4 + 2.63sINFOobjective_server_nodetype: 0 ×4 + 2.63sINFOobjective_server_nodename: "" ×4 + 2.63sINFOobjective_server_nodeinstance_id: "" ×4 + 2.63sINFOobjective_server_nodenode_substitutions: [] ×4 + 2.63sINFOobjective_server_node ×4 + 2.85sINFOobjective_server_nodeObjective `Push Button` starting at time: 1794440580.39631104 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.77sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.87sINFOobjective_server_nodeFound path in 0 iterations (3.12e-07 s). ×2 + 3.89sINFOobjective_server_nodePath shortcutter: [X___________________________X] ×2 + 3.91sINFOros2_control_node[2026-11-11 23:43:01.451] [info] Received new action goal ×2 + 3.91sINFOros2_control_node[2026-11-11 23:43:01.451] [info] Accepted new action goal ×2 + 7.60sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×6 + 7.60sINFOcontroller_managerActivating controllers: [ velocity_force_controller ] + 7.60sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 7.60sINFOros2_control_nodeActivating controllers: [ velocity_force_controller ][0m ×2 + 7.60sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 7.60sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 7.60sINFOcontroller_managerActivated controllers: [ velocity_force_controller ] + 7.60sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 7.60sINFOros2_control_nodeActivated controllers: [ velocity_force_controller ][0m ×2 + 10.01sINFOobjective_server_nodeFound path in 0 iterations (4.26e-07 s). ×2 + 10.03sINFOobjective_server_nodePath shortcutter: [X_________________________X] ×2 + 10.05sINFOros2_control_node[2026-11-11 23:43:07.593] [info] Received new action goal ×2 + 10.05sINFOros2_control_node[2026-11-11 23:43:07.593] [info] Accepted new action goal ×2 + 13.65sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1794440591.19813538 seconds ×3 + 14.19sINFOobjective_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: ""
node_substitutions: []
+ 14.19sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample" ×2 + 14.26sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1794440591.81006432 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.45sINFOobjective_server_nodeFound path in 0 iterations (4.52e-07 s). ×2 + 14.45sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 14.46sINFOros2_control_node[2026-11-11 23:43:12.004] [info] Received new action goal ×2 + 14.46sINFOros2_control_node[2026-11-11 23:43:12.004] [info] Accepted new action goal ×2 + 15.72sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.16727752384940525;y=0.47323919871065;z=0.7971805284211555, orientation: x=0.5894248519484582;y=0.7987881401812754;z=0.09721280806199328;w=-0.07117247333048911 ×3 + 15.73sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 15.80sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 15.80sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 15.80sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 15.80sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 15.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.699366 ms (missed cycles : 2). + 15.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.699366 ms (missed cycles : 2).[0m ×2 + 16.51sINFOjoint_trajectory_controllerReceived new action goal ×133 + 16.51sINFOjoint_trajectory_controllerAccepted new action goal ×133 + 16.51sINFOros2_control_nodeReceived new action goal[0m ×266 + 16.52sINFOros2_control_nodeAccepted new action goal[0m ×266 | ||||
| ✓ passed | Take Wrist Camera Snapshot | wrist_snap.xml | 11.4s | 75 errors · 22 warnings · 481 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 23:45:44.678] [info] Got request to cancel active goal. ×2 + 0.00sINFOros2_control_node[2026-11-11 23:45:44.678] [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: 1794440744.68314171 seconds ×3 + 0.02sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.02sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 0.02sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 0.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.02sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.02sINFOros2_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: ""
node_substitutions: []
+ 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_nodenode_substitutions: [] ×8 + 0.55sINFOobjective_server_node ×8 + 0.62sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1794440745.28956246 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.466307 ms (missed cycles : 4). + 0.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.466307 ms (missed cycles : 4).[0m ×2 + 1.43sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1794440746.09972882 seconds ×3 + 1.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.980583 ms (missed cycles : 2). + 1.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.980583 ms (missed cycles : 2).[0m ×2 + 1.97sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 1.97sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 2.04sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1794440746.71342945 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.04sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 2.04sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×3 + 2.04sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 2.04sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1794440746.71575117 seconds ×3 + 2.07sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.03 s). The render path has stopped producing new frames for them.[0m ×2 + 2.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 2.58sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 2.65sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1794440747.32102966 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.67sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1794440747.34180593 seconds ×3 + 3.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 3.21sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 3.27sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1794440747.94372773 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.275629 ms (missed cycles : 3). + 3.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.275629 ms (missed cycles : 3).[0m ×2 + 4.66sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1794440749.33389831 seconds ×3 + 4.69sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 4.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.669828 ms (missed cycles : 2). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.669828 ms (missed cycles : 2).[0m ×2 + 10.18sERRORweb_video_auth_proxy-25process[web_video_auth_proxy-25] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.18sERRORweb_bridge_auth_proxy-24process[web_bridge_auth_proxy-24] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.18sERRORvideo_server-23process[video_server-23] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.18sERRORtf2_web_republisher_node-22process[tf2_web_republisher_node-22] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.18sERRORjoint_state_visualization_relay-21process[joint_state_visualization_relay-21] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.19sERRORtf_visualization_relay-20process[tf_visualization_relay-20] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.19sERRORweb_bridge-19process[web_bridge-19] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.19sERRORui_teleop_bridge-18process[ui_teleop_bridge-18] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.19sERRORexecute_objective_bridge-17process[execute_objective_bridge-17] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.19sERRORcomponent_container_mt-16process[component_container_mt-16] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.19sERRORcomponent_container_mt-15process[component_container_mt-15] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.19sERRORobjective_server_node_main-14process[objective_server_node_main-14] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.19sERRORmove_end_effector_resampler_node-13process[move_end_effector_resampler_node-13] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.19sERRORmove_joint_resampler_node-12process[move_joint_resampler_node-12] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.19sERRORwaypoint_manager_node-11process[waypoint_manager_node-11] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.19sERRORparameter_manager_node-10process[parameter_manager_node-10] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.20sERRORplanning_scene_server-9process[planning_scene_server-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.20sERRORros2_control_node-1process[ros2_control_node-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.20sINFOweb_video_auth_proxy-25sending signal 'SIGTERM' to process[web_video_auth_proxy-25] ×2 + 10.20sINFOweb_bridge_auth_proxy-24sending signal 'SIGTERM' to process[web_bridge_auth_proxy-24] ×2 + 10.20sERRORweb_video_auth_proxy-25process has died [pid 8640, exit code -15, cmd '/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/auth_proxy --listen-port 3202 --upstream-port 13202 --ros-args']. ×2 + 10.20sINFOvideo_server-23sending signal 'SIGTERM' to process[video_server-23] ×2 + 10.21sERRORweb_bridge_auth_proxy-24process has died [pid 8639, exit code -15, cmd '/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/auth_proxy --listen-port 3201 --upstream-port 13201 --ros-args']. ×2 + 10.21sINFOtf2_web_republisher_node-22sending signal 'SIGTERM' to process[tf2_web_republisher_node-22] ×2 + 10.21sINFOjoint_state_visualization_relay-21sending signal 'SIGTERM' to process[joint_state_visualization_relay-21] ×2 + 10.22sINFOtf_visualization_relay-20sending signal 'SIGTERM' to process[tf_visualization_relay-20] ×2 + 10.23sINFOweb_bridge-19sending signal 'SIGTERM' to process[web_bridge-19] ×2 + 10.23sINFOui_teleop_bridge-18sending signal 'SIGTERM' to process[ui_teleop_bridge-18] ×2 + 10.23sINFOvideo_server-23process has finished cleanly [pid 8638] ×2 + 10.23sINFOexecute_objective_bridge-17sending signal 'SIGTERM' to process[execute_objective_bridge-17] ×2 + 10.24sINFOcomponent_container_mt-16sending signal 'SIGTERM' to process[component_container_mt-16] ×2 + 10.24sINFOcomponent_container_mt-15sending signal 'SIGTERM' to process[component_container_mt-15] ×2 + 10.25sINFOobjective_server_node_main-14sending signal 'SIGTERM' to process[objective_server_node_main-14] ×2 + 10.25sINFOmove_end_effector_resampler_node-13sending signal 'SIGTERM' to process[move_end_effector_resampler_node-13] ×2 + 10.26sINFOmove_joint_resampler_node-12sending signal 'SIGTERM' to process[move_joint_resampler_node-12] ×2 + 10.26sINFOwaypoint_manager_node-11sending signal 'SIGTERM' to process[waypoint_manager_node-11] ×2 + 10.27sINFOparameter_manager_node-10sending signal 'SIGTERM' to process[parameter_manager_node-10] ×2 + 10.28sINFOplanning_scene_server-9sending signal 'SIGTERM' to process[planning_scene_server-9] ×2 + 10.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.743921 ms (missed cycles : 2). + 10.28sINFOros2_control_node-1sending signal 'SIGTERM' to process[ros2_control_node-1] ×2 + 10.28sINFOcontroller_managerShutdown request received.... + 10.28sINFOcontroller_managerShutting down all controllers in the controller manager. + 10.28sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 10.28sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 10.28sINFOlaunchprocess[web_bridge_auth_proxy-24] was required: shutting down launched system ×2 + 10.28sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 10.28sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 10.28sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 10.28sINFOvideo_server2026/11/11 23:45:54 INF shutting down gracefully ×2 + 10.28sINFOvideo_server2026/11/11 23:45:54 INF [WebRTC] closing ×2 + 10.28sINFOvideo_server2026/11/11 23:45:54 INF [RTSP] closing ×2 + 10.28sINFOvideo_server2026/11/11 23:45:54 INF waiting for running hooks ×2 + 10.28sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.28sINFOcontroller_managerDeactivating controller 'joint_trajectory_admittance_controller' + 10.28sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.29sINFOcontroller_managerShutting down controller 'joint_trajectory_admittance_controller' + 10.29sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 10.29sINFOcontroller_managerDeactivating controller 'robotiq_gripper_controller' + 10.29sINFOcontroller_managerShutting down controller 'robotiq_gripper_controller' + 10.29sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 10.29sWARNparameter_manager_nodeROS node was shutdown. ×2 + 10.29sERRORplanning_scene_serverterminate called after throwing an instance of 'std::runtime_error' ×2 + 10.29sERRORplanning_scene_serverwhat(): context cannot be slept with because it's invalid ×2 + 10.29sINFOcontroller_managerShutting down the controller manager. + 10.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.743921 ms (missed cycles : 2).[0m ×2 + 10.29sERRORplanning_scene_serverStack trace (most recent call last) in thread 9035: ×2 + 10.29sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.29sINFOros2_control_nodeShutdown request received....[0m ×2 + 10.29sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m ×2 + 10.29sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m ×2 + 10.29sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m ×2 + 10.29sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×12 + 10.29sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m ×2 + 10.29sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m ×2 + 10.29sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m ×2 + 10.29sINFOros2_control_nodeDeactivating controller 'joint_trajectory_admittance_controller'[0m ×2 + 10.29sINFOplanning_scene_server#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 10.29sINFOros2_control_nodeShutting down controller 'joint_trajectory_admittance_controller'[0m ×2 + 10.29sINFOplanning_scene_server#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f0ce8ceacc3, in __clone ×2 + 10.29sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m ×2 + 10.29sINFOros2_control_nodeDeactivating controller 'robotiq_gripper_controller'[0m ×2 + 10.29sINFOplanning_scene_server#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f0ce8c5db83, in ×2 + 10.29sINFOros2_control_nodeShutting down controller 'robotiq_gripper_controller'[0m ×2 + 10.29sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m ×2 + 10.29sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m ×2 + 10.29sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m ×2 + 10.29sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m ×2 + 10.29sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m ×2 + 10.29sINFOros2_control_nodeShutting down the controller manager.[0m ×2 + 10.29sINFOplanning_scene_server#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f0ce8eeedb3, in ×2 + 10.29sERRORros2_control_nodeException in publisher thread: context cannot be slept with because it's invalid!. Aborting![0m ×2 + 10.29sINFOplanning_scene_server#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so", at 0x7f0ce9dd43a4, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() ×2 + 10.29sINFOplanning_scene_server#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f0ce940b620, in rclcpp::Rate::sleep() ×2 + 10.29sINFOplanning_scene_server#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f0ce934dd18, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) ×2 + 10.30sINFOplanning_scene_server#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f0ce930f087, in ×2 + 10.30sINFOplanning_scene_server#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f0ce8ebd390, in __cxa_throw ×2 + 10.30sINFOplanning_scene_server#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f0ce8ea7a54, in std::terminate() ×2 + 10.30sINFOplanning_scene_server#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f0ce8ebd0d9, in ×2 + 10.30sINFOplanning_scene_server#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f0ce8ea7ff4, in ×2 + 10.30sINFOplanning_scene_server#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f0ce8be98fe, in abort ×2 + 10.30sINFOplanning_scene_server#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f0ce8c0627d, in raise ×2 + 10.30sINFOplanning_scene_server#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f0ce8c5fc0c, in pthread_kill ×2 + 10.30sERRORplanning_scene_serverAborted (Signal sent by tkill() 8542 0) ×2 + 10.30sERRORplanning_scene_server-9process has died [pid 8542, 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_76fjbche --params-file /tmp/launch_params_pjpxv4im --params-file /tmp/launch_params_sd1vwu4f --params-file /tmp/launch_params_pa5gglw7 --params-file /tmp/launch_params_8m9m24rj']. ×2 + 10.49sINFOros2_control_nodeAsync messages lost 0[0m ×4 + 10.49sINFOros2_control_nodepublish_async_failures_ 0[0m ×2 + 10.49sINFOros2_control_nodepublish_async_failures_ 1[0m ×2 + 11.25sERRORjoint_state_visualization_relayTraceback (most recent call last): ×2 + 11.25sINFOjoint_state_visualization_relayFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/joint_state_visualization_relay", line 33, in <module> ×2 + 11.25sINFOjoint_state_visualization_relaysys.exit(load_entry_point('moveit-studio-bridge==10.3.0', 'console_scripts', 'joint_state_visualization_relay')()) ×2 + 11.25sINFOjoint_state_visualization_relay^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 11.25sINFOjoint_state_visualization_relayFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/python3.12/site-packages/moveit_studio_bridge/joint_state_visualization_relay.py", line 95, in main ×2 + 11.25sINFOjoint_state_visualization_relayrclpy.spin(node) ×2 + 11.25sINFOjoint_state_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 11.25sINFOjoint_state_visualization_relayexecutor.spin_once() ×2 + 11.25sINFOjoint_state_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 11.25sINFOjoint_state_visualization_relayself._spin_once_impl(timeout_sec) ×2 + 11.25sINFOjoint_state_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 11.25sINFOjoint_state_visualization_relayhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 11.25sINFOjoint_state_visualization_relay^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 11.25sINFOjoint_state_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 11.25sINFOjoint_state_visualization_relayreturn next(self._cb_iter) ×2 + 11.25sINFOjoint_state_visualization_relay^^^^^^^^^^^^^^^^^^^ ×2 + 11.25sINFOjoint_state_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 757, in _wait_for_ready_callbacks ×2 + 11.25sINFOjoint_state_visualization_relaywait_set = _rclpy.WaitSet( ×2 + 11.25sINFOjoint_state_visualization_relay^^^^^^^^^^^^^^^ ×2 + 11.25sINFOjoint_state_visualization_relayrclpy._rclpy_pybind11.RCLError: failed to initialize wait set: the given context is not valid, either rcl_init() was not called or rcl_shutdown() was called., at ./src/rcl/wait.c:130 ×2 + 11.25sERRORtf_visualization_relayTraceback (most recent call last): ×2 + 11.25sINFOtf_visualization_relayFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/tf_visualization_relay", line 33, in <module> ×2 + 11.25sINFOtf_visualization_relaysys.exit(load_entry_point('moveit-studio-bridge==10.3.0', 'console_scripts', 'tf_visualization_relay')()) ×2 + 11.25sINFOtf_visualization_relay^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 11.25sINFOtf_visualization_relayFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/python3.12/site-packages/moveit_studio_bridge/tf_visualization_relay.py", line 123, in main ×2 + 11.25sINFOtf_visualization_relayrclpy.spin(node) ×2 + 11.25sINFOtf_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 11.25sINFOtf_visualization_relayexecutor.spin_once() ×2 + 11.25sINFOtf_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 11.25sINFOtf_visualization_relayself._spin_once_impl(timeout_sec) ×2 + 11.25sINFOtf_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 11.25sINFOtf_visualization_relayhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 11.25sINFOtf_visualization_relay^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 11.25sINFOtf_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 11.25sINFOtf_visualization_relayreturn next(self._cb_iter) ×2 + 11.25sINFOtf_visualization_relay^^^^^^^^^^^^^^^^^^^ ×2 + 11.25sINFOtf_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks ×2 + 11.25sINFOtf_visualization_relayraise ExternalShutdownException() ×2 + 11.25sINFOtf_visualization_relayrclpy.executors.ExternalShutdownException ×2 + 11.26sINFOtf2_web_republisher_node-22process has finished cleanly [pid 8637] ×2 + 11.26sINFOlaunchprocess[tf2_web_republisher_node-22] was required: shutting down launched system ×2 + 11.30sERRORjoint_state_visualization_relay-21process has died [pid 8634, 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_3l6j0pzb']. ×2 + 11.30sINFOlaunchprocess[joint_state_visualization_relay-21] was required: shutting down launched system ×2 + 11.30sINFOmove_end_effector_resampler_node-13process has finished cleanly [pid 8546] ×2 + 11.31sINFOmove_joint_resampler_node-12process has finished cleanly [pid 8545] ×2 + 11.31sERRORtf_visualization_relay-20process has died [pid 8631, exit code 1, cmd '/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/tf_visualization_relay --ros-args --params-file /tmp/launch_params_ryrrox4j']. ×2 + 11.31sINFOlaunchprocess[tf_visualization_relay-20] was required: shutting down launched system ×2 + 11.35sINFOui_teleop_bridge-18process has finished cleanly [pid 8565] ×2 + 11.35sINFOwaypoint_manager_node-11process has finished cleanly [pid 8544] ×2 + 11.35sINFOexecute_objective_bridge-17process has finished cleanly [pid 8558] ×2 + 11.35sINFOparameter_manager_node-10process has finished cleanly [pid 8543] ×2 + 11.40sINFOobjective_server_node[0;m[2026-11-11 23:45:56.069] [moveit_pro_license] [critical] ×2 + 11.40sINFOobjective_server_node************************************************* ×4 + 11.40sINFOobjective_server_node* MoveIt Pro License ×2 + 11.40sINFOobjective_server_node* ERROR Deactivating floating license! Failed Deactivation: Unknown exception setting license: 59 ×2 + 11.40sINFOcomponent_container_mt-16process has finished cleanly [pid 8555] ×2 + 11.66sINFOobjective_server_node_main-14process has finished cleanly [pid 8547] ×2 + 11.66sINFOlaunchprocess[objective_server_node_main-14] was required: shutting down launched system ×2 + 12.36sINFOweb_bridge-19process has finished cleanly [pid 8566] ×2 + 12.36sINFOlaunchprocess[web_bridge-19] was required: shutting down launched system ×2 + 12.45sINFOcomponent_container_mt-15process has finished cleanly [pid 8552] ×2 + 12.95sINFOros2_control_node-1process has finished cleanly [pid 8505] ×2 | ||||
| ✓ passed | Grasp Pose Using Yaml | grasp_pose_using_yaml.xml | 11.0s | 9 errors · 15 warnings · 218 info |
+ 0.00sINFOparameter_manager_nodeRetrieving pose from parameter manager. ×3 + 0.27sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal. + 0.27sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal.[0m ×2 + 0.27sERRORobjective_server_nodeDoTeleoperateAction Error: Failed to send goal request to action server 'do_teleoperate': Goal request was rejected by the action server ×3 + 0.30sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Tuning With April Tag` did not succeed at time: 1794440486.74347949 seconds ×3 + 0.30sINFOobjective_server_nodeObjective failure records are not written: /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/lab_sim/test_results/lab_sim/ros_logs/moveit_pro_runs/latest does not name a run started by `moveit_pro run`. ×3 + 2.74sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.74sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.74sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.74sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.74sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.74sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.74sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.74sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.75sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.75sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.75sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.75sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Using Yaml"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 3.29sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.29sINFOobjective_server_nodeobjective_name: "Grasp Pose Using Yaml" ×2 + 3.29sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.29sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.29sINFOobjective_server_nodecaller: ×4 + 3.29sINFOobjective_server_nodetype: 0 ×4 + 3.29sINFOobjective_server_nodename: "" ×4 + 3.29sINFOobjective_server_nodeinstance_id: "" ×4 + 3.29sINFOobjective_server_nodenode_substitutions: [] ×4 + 3.29sINFOobjective_server_node ×4 + 3.40sINFOobjective_server_nodeObjective `Grasp Pose Using Yaml` starting at time: 1794440489.83961463 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.40sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 3.40sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 3.50sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 3.59sINFOobjective_server_nodeFound path in 0 iterations (3.92e-07 s). ×2 + 3.60sINFOobjective_server_nodePath shortcutter: [X_______X] ×4 + 3.61sINFOros2_control_node[2026-11-11 23:41:30.053] [info] Received new action goal ×2 + 3.61sINFOros2_control_node[2026-11-11 23:41:30.053] [info] Accepted new action goal ×2 + 5.15sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.312158 ms (missed cycles : 2). + 5.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.312158 ms (missed cycles : 2).[0m ×2 + 6.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.887981 ms (missed cycles : 2). + 6.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.887981 ms (missed cycles : 2).[0m ×2 + 7.52sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 7.52sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 7.53sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 7.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.008403 ms (missed cycles : 7). + 7.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.008403 ms (missed cycles : 7).[0m ×2 + 7.81sINFOobjective_server_nodeFound path in 0 iterations (2.33e-07 s). ×2 + 7.81sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 7.81sINFOobjective_server_nodeFound path in 0 iterations (3.27e-07 s). ×2 + 7.82sINFOobjective_server_nodePath shortcutter: [X_______________X] ×2 + 7.83sINFOobjective_server_nodeFound path in 0 iterations (2.28e-07 s). ×2 + 7.86sINFOobjective_server_nodePath shortcutter: [X_________________________________X] ×2 + 7.88sINFOobjective_server_nodeFound path in 0 iterations (2.22e-07 s). ×2 + 7.97sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 7.99sINFOobjective_server_nodeFound path in 1 iterations (0.00444316 s). ×2 + 8.13sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________X___________________________X] ×2 + 8.16sINFOobjective_server_nodeFound path in 0 iterations (5.14e-07 s). ×2 + 8.26sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X] ×4 + 8.28sINFOobjective_server_nodeFound path in 0 iterations (2.3e-07 s). ×2 + 8.43sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X] ×2 + 8.45sINFOobjective_server_nodeFound path in 0 iterations (2.12e-07 s). ×2 + 8.59sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________X] ×2 + 8.73sINFOros2_control_node[2026-11-11 23:41:35.177] [info] Received new action goal ×2 + 8.73sINFOros2_control_node[2026-11-11 23:41:35.177] [info] Accepted new action goal ×2 + 11.27sINFOobjective_server_nodeFound path in 0 iterations (3.03e-07 s). ×2 + 11.27sINFOobjective_server_nodePath shortcutter: [X__X] ×2 + 11.28sINFOobjective_server_nodeFound path in 0 iterations (2.67e-07 s). ×2 + 11.28sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 11.29sINFOobjective_server_nodeFound path in 0 iterations (1.88e-07 s). ×2 + 11.42sINFOobjective_server_nodeFound path in 1 iterations (0.00350492 s). ×2 + 11.59sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________________________X_________________X] ×2 + 11.66sINFOros2_control_node[2026-11-11 23:41:38.105] [info] Received new action goal ×2 + 11.66sINFOros2_control_node[2026-11-11 23:41:38.105] [info] Accepted new action goal ×2 + 12.09sINFOros2_control_node[2026-11-11 23:41:38.537] [info] Received new action goal ×2 + 12.10sINFOros2_control_node[2026-11-11 23:41:38.537] [info] Accepted new action goal ×2 + 13.73sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 13.74sINFOrobotiq_gripper_controllerGot request to cancel goal + 13.74sINFOrobotiq_gripper_controllerCanceling active action goal because cancel callback received. + 13.74sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 13.74sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 13.76sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Using Yaml` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1794440500.20317888 seconds ×3 + 14.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Live Surface Coverage Demo"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 14.45sINFOobjective_server_nodeobjective_name: "Live Surface Coverage Demo" ×2 + 14.57sINFOobjective_server_nodeObjective `Live Surface Coverage Demo` starting at time: 1794440501.01648307 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.59sINFOobjective_server_nodeFound path in 0 iterations (2.78e-07 s). ×2 + 15.60sINFOros2_control_node[2026-11-11 23:41:42.041] [info] Received new action goal ×2 + 15.60sINFOros2_control_node[2026-11-11 23:41:42.041] [info] Accepted new action goal ×2 + 17.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.037829 ms (missed cycles : 2). + 17.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.037829 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | 3 Waypoints Pick and Place with AprilTags | 3_waypoint_pick_and_place_apriltags.xml | 11.0s | 6 errors · 25 warnings · 210 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 0.10sINFOobjective_server_nodeFound path in 0 iterations (3.17e-07 s). ×2 + 0.11sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 0.11sINFOros2_control_node[2026-11-11 23:40:43.634] [info] Received new action goal ×2 + 0.11sINFOros2_control_node[2026-11-11 23:40:43.634] [info] Accepted new action goal ×2 + 0.65sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×6 + 0.66sINFOros2_control_node[2026-11-11 23:40:44.180] [info] Got request to cancel active goal. ×2 + 0.66sINFOros2_control_node[2026-11-11 23:40:44.180] [info] Canceling active goal... ×2 + 0.67sERRORobjective_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: 1794440444.19646573 seconds ×3 + 0.68sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 0.68sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 0.68sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 0.68sINFOcontroller_managerSuccessfully switched controllers! ×6 + 0.68sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 0.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 0.68sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 0.69sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 0.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 0.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 0.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 1.21sINFOobjective_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: ""
node_substitutions: []
+ 1.21sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 1.21sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place with AprilTags" ×2 + 1.21sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 1.21sINFOobjective_server_nodeparameter_overrides: [] ×6 + 1.21sINFOobjective_server_nodecaller: ×6 + 1.21sINFOobjective_server_nodetype: 0 ×6 + 1.21sINFOobjective_server_nodename: "" ×6 + 1.21sINFOobjective_server_nodeinstance_id: "" ×6 + 1.21sINFOobjective_server_nodenode_substitutions: [] ×6 + 1.21sINFOobjective_server_node ×6 + 1.31sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place with AprilTags` starting at time: 1794440444.83510804 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.55sINFOobjective_server_nodeFound path in 0 iterations (2.35e-07 s). ×2 + 1.55sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 1.56sINFOros2_control_node[2026-11-11 23:40:45.079] [info] Received new action goal ×2 + 1.56sINFOros2_control_node[2026-11-11 23:40:45.079] [info] Accepted new action goal ×2 + 3.64sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.64sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.83sINFOobjective_server_nodeFound path in 0 iterations (2.49e-07 s). ×2 + 3.83sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 3.84sINFOros2_control_node[2026-11-11 23:40:47.360] [info] Received new action goal ×2 + 3.84sINFOros2_control_node[2026-11-11 23:40:47.360] [info] Accepted new action goal ×2 + 6.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.282327 ms (missed cycles : 2). + 6.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.282327 ms (missed cycles : 2).[0m ×2 + 7.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.677172 ms (missed cycles : 3). + 7.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.677172 ms (missed cycles : 3).[0m ×2 + 7.86sWARNros2_control_nodeCamera render tick took 1.40 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 + 8.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.499465 ms (missed cycles : 5). + 8.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.499465 ms (missed cycles : 5).[0m ×2 + 9.43sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 10.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.300436 ms (missed cycles : 3). + 10.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.300436 ms (missed cycles : 3).[0m ×2 + 11.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.043767 ms (missed cycles : 4). + 11.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.043767 ms (missed cycles : 4).[0m ×2 + 11.65sERRORobjective_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: 1794440455.17610312 seconds ×3 + 12.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 12.20sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 12.26sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1794440455.77827907 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 12.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706609 ms (missed cycles : 2). + 12.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706609 ms (missed cycles : 2).[0m ×2 + 12.38sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1794440455.89841413 seconds ×3 + 13.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 13.00sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 13.07sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1794440456.59212899 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 13.26sINFOobjective_server_nodeFound path in 0 iterations (3.05e-07 s). ×2 + 13.26sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 13.26sINFOros2_control_node[2026-11-11 23:40:56.786] [info] Received new action goal ×2 + 13.26sINFOros2_control_node[2026-11-11 23:40:56.786] [info] Accepted new action goal ×2 + 15.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.010479 ms (missed cycles : 2). + 15.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.010479 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Record and Replay Scanning Motion | record_and_replay_scanning_motion.xml | 11.0s | 3 errors · 129 info |
+ 0.00sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1794440676.19773269 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 + 0.02sINFOros2_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 + 0.02sINFOcontroller_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: ""
node_substitutions: []
+ 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_nodenode_substitutions: [] ×4 + 0.54sINFOobjective_server_node ×4 + 0.62sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1794440676.81536007 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.63sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.72sINFOobjective_server_nodeFound path in 0 iterations (2.44e-07 s). ×2 + 0.73sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 0.73sINFOros2_control_node[2026-11-11 23:44:36.929] [info] Received new action goal ×2 + 0.73sINFOros2_control_node[2026-11-11 23:44:36.929] [info] Accepted new action goal ×2 + 2.64sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 10.98sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 10.98sERRORobjective_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: 1794440687.17569351 seconds ×3 + 11.52sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Record Square Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 11.52sINFOobjective_server_nodeobjective_name: "Record Square Trajectory" ×2 + 11.58sINFOobjective_server_nodeObjective `Record Square Trajectory` starting at time: 1794440687.78186369 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 11.71sINFOobjective_server_nodeFound path in 0 iterations (4.95e-07 s). ×2 + 11.72sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 11.74sINFOros2_control_node[2026-11-11 23:44:47.937] [info] Received new action goal ×2 + 11.74sINFOros2_control_node[2026-11-11 23:44:47.937] [info] Accepted new action goal ×2 | ||||
| ✓ passed | Plan and Save Trajectory | plan_and_save_trajectory.xml | 11.0s | 6 errors · 147 info |
+ 0.00sINFOros2_control_node[2026-11-11 23:44:11.779] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-11-11 23:44:11.779] [info] Accepted new action goal ×2 + 1.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.63sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.64sINFOros2_control_node[2026-11-11 23:44:13.422] [info] Received new action goal ×2 + 1.64sINFOros2_control_node[2026-11-11 23:44:13.422] [info] Accepted new action goal ×2 + 2.89sINFOobjective_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 + 2.90sINFOros2_control_node[2026-11-11 23:44:14.678] [info] Got request to cancel active goal. ×2 + 2.90sINFOros2_control_node[2026-11-11 23:44:14.678] [info] Canceling active goal... ×2 + 2.90sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1794440654.68363118 seconds ×3 + 2.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.94sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.96sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.96sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 3.48sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.48sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.48sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.48sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.48sINFOobjective_server_nodecaller: ×4 + 3.48sINFOobjective_server_nodetype: 0 ×4 + 3.48sINFOobjective_server_nodename: "" ×4 + 3.48sINFOobjective_server_nodeinstance_id: "" ×4 + 3.48sINFOobjective_server_nodenode_substitutions: [] ×4 + 3.48sINFOobjective_server_node ×4 + 3.58sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1794440655.36258626 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.66sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.75sINFOobjective_server_nodeFound path in 0 iterations (4.53e-07 s). ×2 + 3.75sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.76sINFOros2_control_node[2026-11-11 23:44:15.537] [info] Received new action goal ×2 + 3.76sINFOros2_control_node[2026-11-11 23:44:15.537] [info] Accepted new action goal ×2 + 5.67sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 13.90sERRORobjective_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: 1794440665.68311429 seconds ×3 + 14.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Playback Square Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 14.47sINFOobjective_server_nodeobjective_name: "Playback Square Trajectory" ×2 + 14.53sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1794440666.31416249 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.80sINFOobjective_server_nodeFound path in 0 iterations (2.68e-07 s). ×2 + 14.82sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 14.83sINFOros2_control_node[2026-11-11 23:44:26.605] [info] Received new action goal ×2 + 14.83sINFOros2_control_node[2026-11-11 23:44:26.605] [info] Accepted new action goal ×2 | ||||
| ✓ passed | Grasp Pose Tuning With April Tag | grasp_pose_tuning_with_april_tag.xml | 10.9s | 9 errors · 18 warnings · 197 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (2.68e-07 s). ×4 + 0.09sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.10sINFOros2_control_node[2026-11-11 23:41:16.246] [info] Received new action goal ×2 + 0.10sINFOros2_control_node[2026-11-11 23:41:16.246] [info] Accepted new action goal ×2 + 2.03sINFOobjective_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 + 2.03sINFOros2_control_node[2026-11-11 23:41:18.175] [info] Got request to cancel active goal. ×2 + 2.03sINFOros2_control_node[2026-11-11 23:41:18.175] [info] Canceling active goal... ×2 + 2.04sERRORobjective_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: 1794440478.18817210 seconds ×3 + 2.08sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.08sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.08sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.09sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.09sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 2.61sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.61sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.61sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.61sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.61sINFOobjective_server_nodecaller: ×4 + 2.61sINFOobjective_server_nodetype: 0 ×4 + 2.61sINFOobjective_server_nodename: "" ×4 + 2.61sINFOobjective_server_nodeinstance_id: "" ×4 + 2.61sINFOobjective_server_nodenode_substitutions: [] ×4 + 2.61sINFOobjective_server_node ×4 + 2.70sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1794440478.84143353 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.70sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.70sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.88sINFOobjective_server_nodeFound path in 0 iterations (3.68e-07 s). ×2 + 2.88sINFOobjective_server_nodePath shortcutter: [X_______X] ×4 + 2.89sINFOros2_control_node[2026-11-11 23:41:19.036] [info] Received new action goal ×2 + 2.89sINFOros2_control_node[2026-11-11 23:41:19.036] [info] Accepted new action goal ×2 + 4.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.397312 ms (missed cycles : 3). + 5.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.397312 ms (missed cycles : 3).[0m ×2 + 6.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.204782 ms (missed cycles : 3). + 6.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.204782 ms (missed cycles : 3).[0m ×2 + 6.81sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 6.82sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 6.82sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 7.09sINFOobjective_server_nodeFound path in 0 iterations (2.58e-07 s). ×2 + 7.10sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 7.10sINFOobjective_server_nodeFound path in 0 iterations (2.88e-07 s). ×2 + 7.11sINFOobjective_server_nodePath shortcutter: [X_______________X] ×2 + 7.12sINFOobjective_server_nodeFound path in 0 iterations (2.65e-07 s). ×2 + 7.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.158325 ms (missed cycles : 2). + 7.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.158325 ms (missed cycles : 2).[0m ×2 + 7.15sINFOobjective_server_nodePath shortcutter: [X_________________________________X] ×2 + 7.18sINFOobjective_server_nodeFound path in 0 iterations (2.08e-07 s). ×2 + 7.26sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 7.29sINFOobjective_server_nodeFound path in 1 iterations (0.00502243 s). ×2 + 7.43sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________X__X________________________X] ×2 + 7.56sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X] ×2 + 7.58sINFOobjective_server_nodeFound path in 0 iterations (2.41e-07 s). ×2 + 7.73sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X] ×2 + 7.75sINFOobjective_server_nodeFound path in 0 iterations (2.18e-07 s). ×2 + 7.90sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________X] ×2 + 8.04sINFOros2_control_node[2026-11-11 23:41:24.188] [info] Received new action goal ×2 + 8.04sINFOros2_control_node[2026-11-11 23:41:24.188] [info] Accepted new action goal ×2 + 10.30sINFOparameter_manager_nodeRetrieving pose from parameter manager. ×3 + 10.56sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal. + 10.56sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal.[0m ×2 + 10.57sERRORobjective_server_nodeDoTeleoperateAction Error: Failed to send goal request to action server 'do_teleoperate': Goal request was rejected by the action server ×3 + 10.60sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Tuning With April Tag` did not succeed at time: 1794440486.74347949 seconds ×3 + 10.60sINFOobjective_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 + 13.59sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Using Yaml"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 13.59sINFOobjective_server_nodeobjective_name: "Grasp Pose Using Yaml" ×2 + 13.69sINFOobjective_server_nodeObjective `Grasp Pose Using Yaml` starting at time: 1794440489.83961463 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 13.89sINFOobjective_server_nodeFound path in 0 iterations (3.92e-07 s). ×2 + 13.91sINFOros2_control_node[2026-11-11 23:41:30.053] [info] Received new action goal ×2 + 13.91sINFOros2_control_node[2026-11-11 23:41:30.053] [info] Accepted new action goal ×2 + 15.45sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 15.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.312158 ms (missed cycles : 2). + 16.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.312158 ms (missed cycles : 2).[0m ×2 + 17.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.887981 ms (missed cycles : 2). + 17.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.887981 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Stationary Admittance | stationary_admittance.xml | 10.9s | 3 errors · 17 warnings · 424 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.60sINFOobjective_server_nodeObjective `Record Surface Coverage Demo` succeeded at time: 1794440732.20177722 seconds ×3 + 0.70sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×8 + 0.70sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×16 + 0.70sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.70sINFOcontroller_managerSuccessfully switched controllers! ×16 + 0.70sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.70sINFOros2_control_nodeSuccessfully switched controllers![0m ×32 + 0.71sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.71sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.71sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×8 + 0.71sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×16 + 0.72sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×8 + 0.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×16 + 1.24sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 1.24sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 1.24sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 1.24sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 1.24sINFOobjective_server_nodeparameter_overrides: [] ×14 + 1.24sINFOobjective_server_nodecaller: ×14 + 1.24sINFOobjective_server_nodetype: 0 ×14 + 1.24sINFOobjective_server_nodename: "" ×14 + 1.24sINFOobjective_server_nodeinstance_id: "" ×14 + 1.24sINFOobjective_server_nodenode_substitutions: [] ×14 + 1.24sINFOobjective_server_node ×14 + 1.44sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1794440733.04084778 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.56sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 1.56sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 1.57sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 1.58sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 1.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.338031 ms (missed cycles : 3). + 1.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.338031 ms (missed cycles : 3).[0m ×2 + 1.59sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1794440733.19101715 seconds ×3 + 2.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 2.14sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 2.20sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1794440733.79616904 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.22sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 2.22sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1794440733.81768823 seconds ×3 + 2.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 2.81sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 2.88sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1794440734.47858691 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.89sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 2.99sINFOobjective_server_nodeFound path in 0 iterations (2.56e-07 s). ×2 + 2.99sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 3.00sINFOros2_control_node[2026-11-11 23:45:34.592] [info] Received new action goal ×2 + 3.00sINFOros2_control_node[2026-11-11 23:45:34.592] [info] Accepted new action goal ×2 + 6.29sINFOobjective_server_nodeLogMessage Info: Running admittance mode for 10 seconds ×3 + 6.30sINFOros2_control_node[2026-11-11 23:45:37.892] [info] Received new action goal ×2 + 6.30sINFOros2_control_node[2026-11-11 23:45:37.892] [info] Accepted new action goal ×2 + 13.08sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 13.08sINFOros2_control_node[2026-11-11 23:45:44.678] [info] Got request to cancel active goal. ×2 + 13.08sINFOros2_control_node[2026-11-11 23:45:44.678] [info] Canceling active goal... ×2 + 13.09sERRORobjective_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: 1794440744.68314171 seconds ×3 + 13.63sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 13.63sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 13.69sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1794440745.28956246 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 13.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.466307 ms (missed cycles : 4). + 13.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.466307 ms (missed cycles : 4).[0m ×2 + 14.50sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1794440746.09972882 seconds ×3 + 15.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.980583 ms (missed cycles : 2). + 15.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.980583 ms (missed cycles : 2).[0m ×2 + 15.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 15.05sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 15.12sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1794440746.71342945 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.12sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 15.12sINFOobjective_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 + 15.12sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 15.12sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1794440746.71575117 seconds ×3 + 15.15sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.03 s). The render path has stopped producing new frames for them.[0m ×2 + 15.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 15.66sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 15.72sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1794440747.32102966 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.74sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1794440747.34180593 seconds ×3 + 16.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 16.29sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 16.35sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1794440747.94372773 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.275629 ms (missed cycles : 3). + 16.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.275629 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | 3 Waypoints Pick and Place | 3_waypoint_pick_and_place.xml | 10.9s | 3 errors · 3 warnings · 410 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 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_nodenode_substitutions: [] ×12 + 0.00sINFOobjective_server_node ×12 + 0.06sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1794440431.04746437 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.06sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×4 + 0.06sINFOros2_control_nodeReceived & accepted new action goal[0m ×8 + 0.12sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1794440431.10762691 seconds ×3 + 0.12sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×5 + 0.12sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×10 + 0.12sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.12sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.12sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.12sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.13sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×5 + 0.13sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×10 + 0.13sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×5 + 0.13sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×10 + 0.60sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 0.77sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 0.84sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1794440431.83139277 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.86sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1794440431.85153341 seconds ×3 + 1.40sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 1.40sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.45sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1794440432.44589996 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.61sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1794440432.59641027 seconds ×3 + 2.24sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 2.24sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.30sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1794440433.28790212 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.31sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.31sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 2.32sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.32sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.32sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.442176 ms (missed cycles : 3). + 2.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.442176 ms (missed cycles : 3).[0m ×2 + 2.35sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1794440433.33804584 seconds ×3 + 2.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 2.88sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.00sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1794440433.99011874 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.01sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.01sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.01sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.01sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.01sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.01sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.01sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.11sINFOobjective_server_nodeFound path in 0 iterations (2.9615e-05 s). ×2 + 3.12sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 3.14sINFOros2_control_node[2026-11-11 23:40:34.126] [info] Received new action goal ×2 + 3.14sINFOros2_control_node[2026-11-11 23:40:34.126] [info] Accepted new action goal ×2 + 5.53sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×15 + 5.63sINFOobjective_server_nodeFound path in 0 iterations (3.53e-07 s). ×2 + 5.64sINFOobjective_server_nodePath shortcutter: [X___________________X] ×4 + 5.65sINFOros2_control_node[2026-11-11 23:40:36.645] [info] Received new action goal ×2 + 5.65sINFOros2_control_node[2026-11-11 23:40:36.645] [info] Accepted new action goal ×2 + 9.29sINFOobjective_server_nodeFound path in 0 iterations (5.47e-07 s). ×2 + 9.31sINFOros2_control_node[2026-11-11 23:40:40.304] [info] Received new action goal ×2 + 9.31sINFOros2_control_node[2026-11-11 23:40:40.304] [info] Accepted new action goal ×2 + 12.63sINFOobjective_server_nodeFound path in 0 iterations (3.17e-07 s). ×2 + 12.64sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 12.64sINFOros2_control_node[2026-11-11 23:40:43.634] [info] Received new action goal ×2 + 12.64sINFOros2_control_node[2026-11-11 23:40:43.634] [info] Accepted new action goal ×2 + 13.18sINFOobjective_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 + 13.19sINFOros2_control_node[2026-11-11 23:40:44.180] [info] Got request to cancel active goal. ×2 + 13.19sINFOros2_control_node[2026-11-11 23:40:44.180] [info] Canceling active goal... ×2 + 13.21sERRORobjective_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: 1794440444.19646573 seconds ×3 + 13.21sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 13.21sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 13.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 13.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 13.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 13.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 13.74sINFOobjective_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: ""
node_substitutions: []
+ 13.74sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place with AprilTags" ×2 + 13.84sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place with AprilTags` starting at time: 1794440444.83510804 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.08sINFOobjective_server_nodeFound path in 0 iterations (2.35e-07 s). ×2 + 14.09sINFOros2_control_node[2026-11-11 23:40:45.079] [info] Received new action goal ×2 + 14.09sINFOros2_control_node[2026-11-11 23:40:45.079] [info] Accepted new action goal ×2 + 16.36sINFOobjective_server_nodeFound path in 0 iterations (2.49e-07 s). ×2 + 16.36sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 16.37sINFOros2_control_node[2026-11-11 23:40:47.360] [info] Received new action goal ×2 + 16.37sINFOros2_control_node[2026-11-11 23:40:47.360] [info] Accepted new action goal ×2 | ||||
| ✓ passed | Pick April Tag Labeled Object With Approval | pick_april_tag_object_with_approval.xml | 10.7s | 3 errors · 15 warnings · 2144 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×323 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×323 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×646 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×646 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719226 ms (missed cycles : 2). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719226 ms (missed cycles : 2).[0m ×2 + 2.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.467682 ms (missed cycles : 2). + 2.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.467682 ms (missed cycles : 2).[0m ×2 + 2.97sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1794440643.84554744 seconds ×3 + 2.98sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 2.98sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 2.98sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 2.98sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.07sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.07sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.08sINFOcontroller_managerSuccessfully switched controllers! ×5 + 3.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 3.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.09sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.09sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.09sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.09sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.61sINFOobjective_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: ""
node_substitutions: []
+ 3.61sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.61sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.61sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.61sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.61sINFOobjective_server_nodecaller: ×4 + 3.61sINFOobjective_server_nodetype: 0 ×4 + 3.61sINFOobjective_server_nodename: "" ×4 + 3.61sINFOobjective_server_nodeinstance_id: "" ×4 + 3.61sINFOobjective_server_nodenode_substitutions: [] ×4 + 3.61sINFOobjective_server_node ×4 + 3.71sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1794440644.58544230 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.72sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.80sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.81sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.81sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.81sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.81sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.81sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.81sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.81sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.93sINFOobjective_server_nodeFound path in 0 iterations (4.97e-07 s). ×2 + 3.94sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.95sINFOros2_control_node[2026-11-11 23:44:04.820] [info] Received new action goal ×2 + 3.95sINFOros2_control_node[2026-11-11 23:44:04.820] [info] Accepted new action goal ×2 + 6.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.604576 ms (missed cycles : 2). + 6.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.604576 ms (missed cycles : 2).[0m ×2 + 7.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.853997 ms (missed cycles : 2). + 7.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.853997 ms (missed cycles : 2).[0m ×2 + 7.93sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 7.94sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 7.94sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 8.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.957123 ms (missed cycles : 3). + 8.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.957123 ms (missed cycles : 3).[0m ×2 + 8.23sINFOobjective_server_nodeFound path in 0 iterations (4.3e-07 s). ×2 + 8.23sINFOobjective_server_nodePath shortcutter: [X_________X] ×4 + 8.24sINFOobjective_server_nodeFound path in 0 iterations (2.72e-07 s). ×2 + 8.24sINFOobjective_server_nodePath shortcutter: [X_______________X] ×2 + 8.26sINFOobjective_server_nodeFound path in 0 iterations (3.05e-07 s). ×2 + 8.34sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 8.37sINFOobjective_server_nodeFound path in 1 iterations (0.0036796 s). ×2 + 8.52sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________X__________________X] ×2 + 8.59sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×3 + 8.59sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 8.61sINFOros2_control_node[2026-11-11 23:44:09.477] [info] Received new action goal ×2 + 8.61sINFOros2_control_node[2026-11-11 23:44:09.477] [info] Accepted new action goal ×2 + 10.91sINFOros2_control_node[2026-11-11 23:44:11.779] [info] Received new action goal ×2 + 10.91sINFOros2_control_node[2026-11-11 23:44:11.779] [info] Accepted new action goal ×2 + 12.54sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 12.55sINFOros2_control_node[2026-11-11 23:44:13.422] [info] Received new action goal ×2 + 12.55sINFOros2_control_node[2026-11-11 23:44:13.422] [info] Accepted new action goal ×2 + 13.80sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 13.81sINFOros2_control_node[2026-11-11 23:44:14.678] [info] Got request to cancel active goal. ×2 + 13.81sINFOros2_control_node[2026-11-11 23:44:14.678] [info] Canceling active goal... ×2 + 13.81sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1794440654.68363118 seconds ×3 + 13.85sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 13.85sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 13.86sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 13.86sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 13.86sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 13.86sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 14.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 14.38sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 14.49sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1794440655.36258626 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.65sINFOobjective_server_nodeFound path in 0 iterations (4.53e-07 s). ×2 + 14.67sINFOros2_control_node[2026-11-11 23:44:15.537] [info] Received new action goal ×2 + 14.67sINFOros2_control_node[2026-11-11 23:44:15.537] [info] Accepted new action goal ×2 + 16.57sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| ✓ passed | Pick April Tag Labeled Object | apriltag_pick_object.xml | 10.7s | 3 errors · 20 warnings · 276 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.300436 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.300436 ms (missed cycles : 3).[0m ×2 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.043767 ms (missed cycles : 4). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.043767 ms (missed cycles : 4).[0m ×2 + 1.58sINFOobjective_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 + 1.58sERRORobjective_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: 1794440455.17610312 seconds ×3 + 1.58sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.58sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.58sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 1.58sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.58sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 1.58sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.59sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.59sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 1.59sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.59sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.59sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.59sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.12sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 2.12sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 2.12sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.12sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 2.12sINFOobjective_server_nodeparameter_overrides: [] ×8 + 2.12sINFOobjective_server_nodecaller: ×8 + 2.12sINFOobjective_server_nodetype: 0 ×8 + 2.12sINFOobjective_server_nodename: "" ×8 + 2.12sINFOobjective_server_nodeinstance_id: "" ×8 + 2.12sINFOobjective_server_nodenode_substitutions: [] ×8 + 2.12sINFOobjective_server_node ×8 + 2.18sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1794440455.77827907 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706609 ms (missed cycles : 2). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706609 ms (missed cycles : 2).[0m ×2 + 2.30sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1794440455.89841413 seconds ×3 + 2.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 2.92sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 2.99sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1794440456.59212899 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.08sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 3.18sINFOobjective_server_nodeFound path in 0 iterations (3.05e-07 s). ×2 + 3.18sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.19sINFOros2_control_node[2026-11-11 23:40:56.786] [info] Received new action goal ×2 + 3.19sINFOros2_control_node[2026-11-11 23:40:56.786] [info] Accepted new action goal ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.010479 ms (missed cycles : 2). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.010479 ms (missed cycles : 2).[0m ×2 + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.198777 ms (missed cycles : 2). + 6.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.198777 ms (missed cycles : 2).[0m ×2 + 7.20sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 7.20sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 7.20sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 7.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.091323 ms (missed cycles : 2). + 7.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.091323 ms (missed cycles : 2).[0m ×2 + 7.49sINFOobjective_server_nodeFound path in 0 iterations (4.84e-07 s). ×2 + 7.49sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 7.50sINFOobjective_server_nodeFound path in 0 iterations (2.83e-07 s). ×2 + 7.51sINFOobjective_server_nodePath shortcutter: [X_______________X] ×2 + 7.52sINFOobjective_server_nodeFound path in 0 iterations (2.37e-07 s). ×2 + 7.60sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 7.62sINFOobjective_server_nodeFound path in 1 iterations (0.00323353 s). ×2 + 7.78sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________X__________________X] ×2 + 7.86sINFOros2_control_node[2026-11-11 23:41:01.462] [info] Received new action goal ×2 + 7.86sINFOros2_control_node[2026-11-11 23:41:01.462] [info] Accepted new action goal ×2 + 8.31sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 10.17sINFOros2_control_node[2026-11-11 23:41:03.764] [info] Received new action goal ×2 + 10.17sINFOros2_control_node[2026-11-11 23:41:03.764] [info] Accepted new action goal ×2 + 11.81sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 11.83sINFOros2_control_node[2026-11-11 23:41:05.426] [info] Received new action goal ×2 + 11.83sINFOros2_control_node[2026-11-11 23:41:05.426] [info] Accepted new action goal ×2 + 13.12sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1794440466.72233653 seconds ×3 + 13.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 13.66sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 13.74sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1794440467.33992338 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 13.83sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1794440467.43006563 seconds ×3 + 14.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 14.42sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 14.49sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1794440468.08508897 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.59sINFOobjective_server_nodeFound path in 0 iterations (2.78e-07 s). ×2 + 14.60sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 14.61sINFOros2_control_node[2026-11-11 23:41:08.210] [info] Received new action goal ×2 + 14.61sINFOros2_control_node[2026-11-11 23:41:08.210] [info] Accepted new action goal ×2 | ||||
| ✓ passed | Cycle Between Waypoints | cycle_between_waypoints.xml | 10.7s | 3 errors · 3 warnings · 228 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.34sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.36sINFOros2_control_node[2026-11-11 23:41:05.426] [info] Received new action goal ×2 + 0.36sINFOros2_control_node[2026-11-11 23:41:05.426] [info] Accepted new action goal ×2 + 1.66sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1794440466.72233653 seconds ×3 + 1.66sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 1.66sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.66sINFOcontroller_managerSuccessfully switched controllers! ×6 + 1.66sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 1.66sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.66sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 1.67sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 1.67sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.67sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 1.67sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 1.67sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 1.67sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 2.19sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.19sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.19sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.19sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.19sINFOobjective_server_nodecaller: ×6 + 2.19sINFOobjective_server_nodetype: 0 ×6 + 2.19sINFOobjective_server_nodename: "" ×6 + 2.19sINFOobjective_server_nodeinstance_id: "" ×6 + 2.19sINFOobjective_server_nodenode_substitutions: [] ×6 + 2.19sINFOobjective_server_node ×6 + 2.27sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1794440467.33992338 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.37sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1794440467.43006563 seconds ×3 + 2.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 2.95sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.02sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1794440468.08508897 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.03sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×15 + 3.13sINFOobjective_server_nodeFound path in 0 iterations (2.78e-07 s). ×2 + 3.13sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.15sINFOros2_control_node[2026-11-11 23:41:08.210] [info] Received new action goal ×2 + 3.15sINFOros2_control_node[2026-11-11 23:41:08.210] [info] Accepted new action goal ×2 + 6.49sINFOobjective_server_nodeFound path in 0 iterations (2.63e-07 s). ×2 + 6.49sINFOobjective_server_nodePath shortcutter: [X________X] ×6 + 6.50sINFOros2_control_node[2026-11-11 23:41:11.560] [info] Received new action goal ×2 + 6.50sINFOros2_control_node[2026-11-11 23:41:11.560] [info] Accepted new action goal ×2 + 8.82sINFOobjective_server_nodeFound path in 0 iterations (2.52e-07 s). ×2 + 8.83sINFOros2_control_node[2026-11-11 23:41:13.897] [info] Received new action goal ×2 + 8.83sINFOros2_control_node[2026-11-11 23:41:13.897] [info] Accepted new action goal ×2 + 11.17sINFOobjective_server_nodeFound path in 0 iterations (2.68e-07 s). ×2 + 11.18sINFOros2_control_node[2026-11-11 23:41:16.246] [info] Received new action goal ×2 + 11.18sINFOros2_control_node[2026-11-11 23:41:16.246] [info] Accepted new action goal ×2 + 13.11sINFOobjective_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 + 13.11sINFOros2_control_node[2026-11-11 23:41:18.175] [info] Got request to cancel active goal. ×2 + 13.11sINFOros2_control_node[2026-11-11 23:41:18.175] [info] Canceling active goal... ×2 + 13.12sERRORobjective_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: 1794440478.18817210 seconds ×3 + 13.69sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 13.69sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 13.78sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1794440478.84143353 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 13.96sINFOobjective_server_nodeFound path in 0 iterations (3.68e-07 s). ×2 + 13.96sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 13.97sINFOros2_control_node[2026-11-11 23:41:19.036] [info] Received new action goal ×2 + 13.97sINFOros2_control_node[2026-11-11 23:41:19.036] [info] Accepted new action goal ×2 + 16.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.397312 ms (missed cycles : 3). + 16.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.397312 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Playback Square Trajectory | playback_square_trajectory.xml | 10.5s | 3 errors · 135 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: 1794440665.68311429 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 + 0.02sINFOcontroller_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: ""
node_substitutions: []
+ 0.57sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.58sINFOobjective_server_nodeobjective_name: "Playback Square Trajectory" ×2 + 0.58sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.58sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.58sINFOobjective_server_nodecaller: ×4 + 0.58sINFOobjective_server_nodetype: 0 ×4 + 0.58sINFOobjective_server_nodename: "" ×4 + 0.58sINFOobjective_server_nodeinstance_id: "" ×4 + 0.58sINFOobjective_server_nodenode_substitutions: [] ×4 + 0.58sINFOobjective_server_node ×4 + 0.64sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1794440666.31416249 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.81sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.91sINFOobjective_server_nodeFound path in 0 iterations (2.68e-07 s). ×2 + 0.92sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 0.93sINFOros2_control_node[2026-11-11 23:44:26.605] [info] Received new action goal ×2 + 0.93sINFOros2_control_node[2026-11-11 23:44:26.605] [info] Accepted new action goal ×2 + 4.94sINFOros2_control_node[2026-11-11 23:44:30.612] [info] Received new action goal ×2 + 4.94sINFOros2_control_node[2026-11-11 23:44:30.612] [info] Accepted new action goal ×2 + 5.92sINFOros2_control_nodeMuJoCo sim: 0.02% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 10.52sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1794440676.19773269 seconds ×3 + 11.06sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Record and Replay Scanning Motion"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 11.06sINFOobjective_server_nodeobjective_name: "Record and Replay Scanning Motion" ×2 + 11.14sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1794440676.81536007 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 11.25sINFOobjective_server_nodeFound path in 0 iterations (2.44e-07 s). ×2 + 11.25sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 11.26sINFOros2_control_node[2026-11-11 23:44:36.929] [info] Received new action goal ×2 + 11.26sINFOros2_control_node[2026-11-11 23:44:36.929] [info] Accepted new action goal ×2 + 13.16sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| ✓ passed | Record Square Trajectory | record_square_trajectory.xml | 10.5s | 3 errors · 3 warnings · 151 info |
+ 0.00sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.00sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1794440687.17569351 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 + 0.02sINFOros2_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 + 0.02sINFOcontroller_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 Square Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 0.54sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.54sINFOobjective_server_nodeobjective_name: "Record Square Trajectory" ×2 + 0.54sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.54sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.54sINFOobjective_server_nodecaller: ×4 + 0.54sINFOobjective_server_nodetype: 0 ×4 + 0.54sINFOobjective_server_nodename: "" ×4 + 0.54sINFOobjective_server_nodeinstance_id: "" ×4 + 0.54sINFOobjective_server_nodenode_substitutions: [] ×4 + 0.54sINFOobjective_server_node ×4 + 0.61sINFOobjective_server_nodeObjective `Record Square Trajectory` starting at time: 1794440687.78186369 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 (4.95e-07 s). ×2 + 0.74sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 0.76sINFOros2_control_node[2026-11-11 23:44:47.937] [info] Received new action goal ×2 + 0.76sINFOros2_control_node[2026-11-11 23:44:47.937] [info] Accepted new action goal ×2 + 5.10sINFOros2_control_node[2026-11-11 23:44:52.278] [info] Received new action goal ×2 + 5.10sINFOros2_control_node[2026-11-11 23:44:52.278] [info] Accepted new action goal ×2 + 7.13sINFOros2_control_node[2026-11-11 23:44:54.299] [info] Received new action goal ×2 + 7.13sINFOros2_control_node[2026-11-11 23:44:54.299] [info] Accepted new action goal ×2 + 7.63sINFOros2_control_node[2026-11-11 23:44:54.801] [info] Received new action goal ×2 + 7.63sINFOros2_control_node[2026-11-11 23:44:54.801] [info] Accepted new action goal ×2 + 9.70sINFOros2_control_node[2026-11-11 23:44:56.872] [info] Received new action goal ×2 + 9.70sINFOros2_control_node[2026-11-11 23:44:56.872] [info] Accepted new action goal ×2 + 10.50sINFOobjective_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 + 10.50sINFOobjective_server_nodeObjective `Record Square Trajectory` succeeded at time: 1794440697.67062259 seconds ×3 + 11.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Record Surface Coverage Demo"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 11.04sINFOobjective_server_nodeobjective_name: "Record Surface Coverage Demo" ×2 + 11.15sINFOobjective_server_nodeObjective `Record Surface Coverage Demo` starting at time: 1794440698.32122612 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 11.15sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 11.15sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 12.16sINFOobjective_server_nodeFound path in 0 iterations (2.95e-07 s). ×2 + 12.16sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 12.17sINFOros2_control_node[2026-11-11 23:44:59.345] [info] Received new action goal ×2 + 12.17sINFOros2_control_node[2026-11-11 23:44:59.345] [info] Accepted new action goal ×2 + 14.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.223443 ms (missed cycles : 4). + 14.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.223443 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Look at Table | look_at_table.xml | 3.9s | 3 warnings · 222 info |
+ 0.00sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1794440532.17460179 seconds ×3 + 0.01sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.01sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 0.01sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load MuJoCo Robot State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 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_nodenode_substitutions: [] ×6 + 0.54sINFOobjective_server_node ×6 + 0.59sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1794440532.76869678 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.64sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 0.64sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 0.65sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 0.65sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 0.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.765270 ms (missed cycles : 8). + 0.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.765270 ms (missed cycles : 8).[0m ×2 + 0.67sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1794440532.84886932 seconds ×3 + 1.41sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 1.41sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 1.47sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1794440533.64188576 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.48sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 1.57sINFOobjective_server_nodeFound path in 0 iterations (2.73e-07 s). ×2 + 1.57sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.58sINFOros2_control_node[2026-11-11 23:42:13.756] [info] Received new action goal ×2 + 1.58sINFOros2_control_node[2026-11-11 23:42:13.756] [info] Accepted new action goal ×2 + 3.59sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1794440535.76206732 seconds ×3 + 5.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 5.18sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 5.26sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1794440537.43195319 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.26sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 5.26sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 5.34sINFOobjective_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 + 5.35sINFOobjective_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 + 5.63sINFOobjective_server_nodeFound path in 0 iterations (3.88e-07 s). ×2 + 5.63sINFOobjective_server_nodePath shortcutter: [X_____________X] ×4 + 5.68sINFOros2_control_node[2026-11-11 23:42:17.849] [info] Received new action goal ×2 + 5.68sINFOros2_control_node[2026-11-11 23:42:17.849] [info] Accepted new action goal ×2 + 8.52sINFOobjective_server_nodeFound path in 0 iterations (2.87e-07 s). ×2 + 8.54sINFOros2_control_node[2026-11-11 23:42:20.716] [info] Received new action goal ×2 + 8.54sINFOros2_control_node[2026-11-11 23:42:20.716] [info] Accepted new action goal ×2 | ||||
| ✓ passed | Close Gripper | close_gripper.xml | 1.5s | 3 warnings · 427 info |
+ 0.00sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.03sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 0.03sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.03sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 0.03sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 0.06sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.06sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.06sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 0.06sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 0.07sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 0.07sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 0.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 0.65sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.65sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.65sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.65sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.65sINFOobjective_server_nodecaller: ×14 + 0.66sINFOobjective_server_nodetype: 0 ×14 + 0.66sINFOobjective_server_nodename: "" ×14 + 0.66sINFOobjective_server_nodeinstance_id: "" ×14 + 0.66sINFOobjective_server_nodenode_substitutions: [] ×14 + 0.66sINFOobjective_server_node ×14 + 0.72sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1794440428.89838696 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.73sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1794440428.90863299 seconds ×3 + 1.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 1.27sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.34sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1794440429.51994610 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: 1794440430.43010974 seconds ×3 + 2.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 2.81sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.87sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1794440431.04746437 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.93sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1794440431.10762691 seconds ×3 + 3.41sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 3.58sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.65sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1794440431.83139277 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.67sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1794440431.85153341 seconds ×3 + 4.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 4.21sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.27sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1794440432.44589996 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.42sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1794440432.59641027 seconds ×3 + 5.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 5.05sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1794440433.28790212 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.12sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 5.12sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 5.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.13sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.442176 ms (missed cycles : 3). + 5.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.442176 ms (missed cycles : 3).[0m ×2 + 5.16sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1794440433.33804584 seconds ×3 + 5.69sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 5.69sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 5.81sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1794440433.99011874 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.82sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 5.82sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.82sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.82sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.82sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.82sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.82sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.82sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.82sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.92sINFOobjective_server_nodeFound path in 0 iterations (2.9615e-05 s). ×2 + 5.93sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 5.95sINFOros2_control_node[2026-11-11 23:40:34.126] [info] Received new action goal ×2 + 5.95sINFOros2_control_node[2026-11-11 23:40:34.126] [info] Accepted new action goal ×2 | ||||
| ✓ passed | Take Scene Camera Snapshot | take_snap.xml | 1.4s | 3 errors · 17 warnings · 221 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 23:45:44.678] [info] Got request to cancel active goal. ×2 + 0.00sINFOros2_control_node[2026-11-11 23:45:44.678] [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: 1794440744.68314171 seconds ×3 + 0.02sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.02sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 0.02sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 0.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.02sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.02sINFOros2_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: ""
node_substitutions: []
+ 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_nodenode_substitutions: [] ×8 + 0.55sINFOobjective_server_node ×8 + 0.62sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1794440745.28956246 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.466307 ms (missed cycles : 4). + 0.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.466307 ms (missed cycles : 4).[0m ×2 + 1.43sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1794440746.09972882 seconds ×3 + 1.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.980583 ms (missed cycles : 2). + 1.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.980583 ms (missed cycles : 2).[0m ×2 + 1.97sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 1.97sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 2.04sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1794440746.71342945 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.04sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 2.04sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×3 + 2.04sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 2.04sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1794440746.71575117 seconds ×3 + 2.07sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.03 s). The render path has stopped producing new frames for them.[0m ×2 + 2.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 2.58sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 2.65sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1794440747.32102966 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.67sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1794440747.34180593 seconds ×3 + 3.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 3.21sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 3.27sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1794440747.94372773 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.275629 ms (missed cycles : 3). + 3.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.275629 ms (missed cycles : 3).[0m ×2 + 4.66sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1794440749.33389831 seconds ×3 + 4.69sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 4.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.669828 ms (missed cycles : 2). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.669828 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Reset MuJoCo Robot | reset_mujoco_robot.xml | 0.9s | 3 warnings · 199 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.60sINFOobjective_server_nodeObjective `Record Surface Coverage Demo` succeeded at time: 1794440732.20177722 seconds ×3 + 0.70sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.70sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.70sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 0.70sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.70sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 0.70sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.71sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.71sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.71sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.71sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.72sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.24sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 1.24sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 1.24sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 1.24sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 1.24sINFOobjective_server_nodeparameter_overrides: [] ×6 + 1.24sINFOobjective_server_nodecaller: ×6 + 1.24sINFOobjective_server_nodetype: 0 ×6 + 1.24sINFOobjective_server_nodename: "" ×6 + 1.24sINFOobjective_server_nodeinstance_id: "" ×6 + 1.24sINFOobjective_server_nodenode_substitutions: [] ×6 + 1.24sINFOobjective_server_node ×6 + 1.44sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1794440733.04084778 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.56sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 1.56sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 1.57sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 1.58sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 1.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.338031 ms (missed cycles : 3). + 1.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.338031 ms (missed cycles : 3).[0m ×2 + 1.59sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1794440733.19101715 seconds ×3 + 2.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 2.14sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 2.20sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1794440733.79616904 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.22sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 2.22sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1794440733.81768823 seconds ×3 + 2.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 2.81sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 2.88sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1794440734.47858691 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.89sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 2.99sINFOobjective_server_nodeFound path in 0 iterations (2.56e-07 s). ×2 + 2.99sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 3.00sINFOros2_control_node[2026-11-11 23:45:34.592] [info] Received new action goal ×2 + 3.00sINFOros2_control_node[2026-11-11 23:45:34.592] [info] Accepted new action goal ×2 | ||||
| ✓ passed | Add Table to Planning Scene | add_table_to_planning_scene.xml | 0.7s | 3 errors · 17 warnings · 118 info |
+ 0.00sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 0.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.300436 ms (missed cycles : 3). + 0.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.300436 ms (missed cycles : 3).[0m ×2 + 1.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.043767 ms (missed cycles : 4). + 1.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.043767 ms (missed cycles : 4).[0m ×2 + 2.22sINFOobjective_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 + 2.23sERRORobjective_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: 1794440455.17610312 seconds ×3 + 2.23sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.23sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.23sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.23sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.23sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.23sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.24sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.24sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 2.77sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.77sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.77sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.77sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.77sINFOobjective_server_nodecaller: ×4 + 2.77sINFOobjective_server_nodetype: 0 ×4 + 2.77sINFOobjective_server_nodename: "" ×4 + 2.77sINFOobjective_server_nodeinstance_id: "" ×4 + 2.77sINFOobjective_server_nodenode_substitutions: [] ×4 + 2.77sINFOobjective_server_node ×4 + 2.83sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1794440455.77827907 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706609 ms (missed cycles : 2). + 2.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706609 ms (missed cycles : 2).[0m ×2 + 2.95sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1794440455.89841413 seconds ×3 + 3.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 3.57sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.64sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1794440456.59212899 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.65sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.65sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.73sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.83sINFOobjective_server_nodeFound path in 0 iterations (3.05e-07 s). ×2 + 3.83sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.84sINFOros2_control_node[2026-11-11 23:40:56.786] [info] Received new action goal ×2 + 3.84sINFOros2_control_node[2026-11-11 23:40:56.786] [info] Accepted new action goal ×2 + 5.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.010479 ms (missed cycles : 2). + 5.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.010479 ms (missed cycles : 2).[0m ×2 + 7.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.198777 ms (missed cycles : 2). + 7.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.198777 ms (missed cycles : 2).[0m ×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 + 0.34sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.36sINFOros2_control_node[2026-11-11 23:41:05.426] [info] Received new action goal ×2 + 0.36sINFOros2_control_node[2026-11-11 23:41:05.426] [info] Accepted new action goal ×2 + 1.66sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1794440466.72233653 seconds ×3 + 1.66sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.66sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.66sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.66sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.66sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.66sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.67sINFOros2_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: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 2.19sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.19sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.19sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.19sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.19sINFOobjective_server_nodecaller: ×4 + 2.19sINFOobjective_server_nodetype: 0 ×4 + 2.19sINFOobjective_server_nodename: "" ×4 + 2.19sINFOobjective_server_nodeinstance_id: "" ×4 + 2.19sINFOobjective_server_nodenode_substitutions: [] ×4 + 2.19sINFOobjective_server_node ×4 + 2.27sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1794440467.33992338 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.37sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1794440467.43006563 seconds ×3 + 2.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 2.95sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.02sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1794440468.08508897 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.03sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.13sINFOobjective_server_nodeFound path in 0 iterations (2.78e-07 s). ×2 + 3.13sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.15sINFOros2_control_node[2026-11-11 23:41:08.210] [info] Received new action goal ×2 + 3.15sINFOros2_control_node[2026-11-11 23:41:08.210] [info] Accepted new action goal ×2 + 6.49sINFOobjective_server_nodeFound path in 0 iterations (2.63e-07 s). ×2 + 6.49sINFOobjective_server_nodePath shortcutter: [X________X] ×2 | ||||
| ✓ passed | Load MuJoCo Robot State | load_mujoco_robot_state.xml | 0.7s | 3 warnings · 167 info |
+ 0.00sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1794440532.17460179 seconds ×3 + 0.01sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.01sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 0.01sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load MuJoCo Robot State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 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_nodenode_substitutions: [] ×4 + 0.54sINFOobjective_server_node ×4 + 0.59sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1794440532.76869678 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.64sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 0.64sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 0.65sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 0.65sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 0.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.765270 ms (missed cycles : 8). + 0.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.765270 ms (missed cycles : 8).[0m ×2 + 0.67sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1794440532.84886932 seconds ×3 + 1.41sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 1.41sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 1.47sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1794440533.64188576 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.48sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 1.57sINFOobjective_server_nodeFound path in 0 iterations (2.73e-07 s). ×2 + 1.57sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.58sINFOros2_control_node[2026-11-11 23:42:13.756] [info] Received new action goal ×2 + 1.58sINFOros2_control_node[2026-11-11 23:42:13.756] [info] Accepted new action goal ×2 + 3.59sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1794440535.76206732 seconds ×3 | ||||
| ✓ passed | Open Gripper | open_gripper.xml | 0.7s | 3 warnings · 427 info |
+ 0.00sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.03sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 0.03sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.03sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 0.03sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 0.06sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.06sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.06sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 0.06sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 0.07sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 0.07sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 0.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 0.65sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.65sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.65sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.65sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.65sINFOobjective_server_nodecaller: ×14 + 0.66sINFOobjective_server_nodetype: 0 ×14 + 0.66sINFOobjective_server_nodename: "" ×14 + 0.66sINFOobjective_server_nodeinstance_id: "" ×14 + 0.66sINFOobjective_server_nodenode_substitutions: [] ×14 + 0.66sINFOobjective_server_node ×14 + 0.72sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1794440428.89838696 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.73sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1794440428.90863299 seconds ×3 + 1.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 1.27sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.34sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1794440429.51994610 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: 1794440430.43010974 seconds ×3 + 2.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 2.81sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.87sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1794440431.04746437 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.93sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1794440431.10762691 seconds ×3 + 3.41sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 3.58sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.65sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1794440431.83139277 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.67sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1794440431.85153341 seconds ×3 + 4.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 4.21sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.27sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1794440432.44589996 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.42sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1794440432.59641027 seconds ×3 + 5.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 5.05sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1794440433.28790212 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.12sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 5.12sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 5.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.13sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.442176 ms (missed cycles : 3). + 5.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.442176 ms (missed cycles : 3).[0m ×2 + 5.16sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1794440433.33804584 seconds ×3 + 5.69sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 5.69sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 5.81sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1794440433.99011874 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.82sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 5.82sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.82sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.82sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.82sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.82sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.82sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.82sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.82sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.92sINFOobjective_server_nodeFound path in 0 iterations (2.9615e-05 s). ×2 + 5.93sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 5.95sINFOros2_control_node[2026-11-11 23:40:34.126] [info] Received new action goal ×2 + 5.95sINFOros2_control_node[2026-11-11 23:40:34.126] [info] Accepted new action goal ×2 | ||||
| ✓ passed | Save Robot Joint State | save_robot_joint_state.xml | 0.6s | 3 warnings · 199 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.60sINFOobjective_server_nodeObjective `Record Surface Coverage Demo` succeeded at time: 1794440732.20177722 seconds ×3 + 0.70sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.70sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.70sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 0.70sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.70sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 0.70sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.71sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.71sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.71sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.71sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.72sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.24sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 1.24sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 1.24sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 1.24sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 1.24sINFOobjective_server_nodeparameter_overrides: [] ×6 + 1.24sINFOobjective_server_nodecaller: ×6 + 1.24sINFOobjective_server_nodetype: 0 ×6 + 1.24sINFOobjective_server_nodename: "" ×6 + 1.24sINFOobjective_server_nodeinstance_id: "" ×6 + 1.24sINFOobjective_server_nodenode_substitutions: [] ×6 + 1.24sINFOobjective_server_node ×6 + 1.44sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1794440733.04084778 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.56sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 1.56sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 1.57sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 1.58sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 1.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.338031 ms (missed cycles : 3). + 1.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.338031 ms (missed cycles : 3).[0m ×2 + 1.59sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1794440733.19101715 seconds ×3 + 2.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 2.14sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 2.20sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1794440733.79616904 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.22sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 2.22sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1794440733.81768823 seconds ×3 + 2.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 2.81sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 2.88sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1794440734.47858691 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.89sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 2.99sINFOobjective_server_nodeFound path in 0 iterations (2.56e-07 s). ×2 + 2.99sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 3.00sINFOros2_control_node[2026-11-11 23:45:34.592] [info] Received new action goal ×2 + 3.00sINFOros2_control_node[2026-11-11 23:45:34.592] [info] Accepted new action goal ×2 | ||||
| ✓ passed | Visualize Grasp Link | visualize_grasp_link.xml | 0.6s | 3 errors · 17 warnings · 221 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 23:45:44.678] [info] Got request to cancel active goal. ×2 + 0.00sINFOros2_control_node[2026-11-11 23:45:44.678] [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: 1794440744.68314171 seconds ×3 + 0.02sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.02sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 0.02sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 0.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.02sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.02sINFOros2_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: ""
node_substitutions: []
+ 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_nodenode_substitutions: [] ×8 + 0.55sINFOobjective_server_node ×8 + 0.62sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1794440745.28956246 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.466307 ms (missed cycles : 4). + 0.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.466307 ms (missed cycles : 4).[0m ×2 + 1.43sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1794440746.09972882 seconds ×3 + 1.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.980583 ms (missed cycles : 2). + 1.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.980583 ms (missed cycles : 2).[0m ×2 + 1.97sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 1.97sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 2.04sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1794440746.71342945 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.04sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 2.04sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×3 + 2.04sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 2.04sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1794440746.71575117 seconds ×3 + 2.07sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.03 s). The render path has stopped producing new frames for them.[0m ×2 + 2.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 2.58sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 2.65sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1794440747.32102966 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.67sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1794440747.34180593 seconds ×3 + 3.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 3.21sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 3.27sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1794440747.94372773 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.275629 ms (missed cycles : 3). + 3.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.275629 ms (missed cycles : 3).[0m ×2 + 4.66sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1794440749.33389831 seconds ×3 + 4.69sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 4.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.669828 ms (missed cycles : 2). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.669828 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Vector and String Example | vector_and_string_example.xml | 0.6s | 3 errors · 17 warnings · 221 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 23:45:44.678] [info] Got request to cancel active goal. ×2 + 0.00sINFOros2_control_node[2026-11-11 23:45:44.678] [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: 1794440744.68314171 seconds ×3 + 0.02sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.02sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 0.02sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 0.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.02sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.02sINFOros2_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: ""
node_substitutions: []
+ 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_nodenode_substitutions: [] ×8 + 0.55sINFOobjective_server_node ×8 + 0.62sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1794440745.28956246 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.466307 ms (missed cycles : 4). + 0.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.466307 ms (missed cycles : 4).[0m ×2 + 1.43sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1794440746.09972882 seconds ×3 + 1.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.980583 ms (missed cycles : 2). + 1.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.980583 ms (missed cycles : 2).[0m ×2 + 1.97sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 1.97sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 2.04sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1794440746.71342945 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.04sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 2.04sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×3 + 2.04sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 2.04sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1794440746.71575117 seconds ×3 + 2.07sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.03 s). The render path has stopped producing new frames for them.[0m ×2 + 2.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 2.58sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 2.65sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1794440747.32102966 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.67sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1794440747.34180593 seconds ×3 + 3.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 3.21sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 3.27sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1794440747.94372773 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.275629 ms (missed cycles : 3). + 3.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.275629 ms (missed cycles : 3).[0m ×2 + 4.66sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1794440749.33389831 seconds ×3 + 4.69sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 4.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.669828 ms (missed cycles : 2). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.669828 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Register CAD Part Subtree | register_cad_part_subtree.xml | 0.1s | 3 warnings · 199 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.60sINFOobjective_server_nodeObjective `Record Surface Coverage Demo` succeeded at time: 1794440732.20177722 seconds ×3 + 0.70sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.70sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.70sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 0.70sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.70sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 0.70sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.71sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.71sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.71sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.71sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.72sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.24sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 1.24sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 1.24sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 1.24sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 1.24sINFOobjective_server_nodeparameter_overrides: [] ×6 + 1.24sINFOobjective_server_nodecaller: ×6 + 1.24sINFOobjective_server_nodetype: 0 ×6 + 1.24sINFOobjective_server_nodename: "" ×6 + 1.24sINFOobjective_server_nodeinstance_id: "" ×6 + 1.24sINFOobjective_server_nodenode_substitutions: [] ×6 + 1.24sINFOobjective_server_node ×6 + 1.44sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1794440733.04084778 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.56sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 1.56sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 1.57sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 1.58sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 1.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.338031 ms (missed cycles : 3). + 1.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.338031 ms (missed cycles : 3).[0m ×2 + 1.59sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1794440733.19101715 seconds ×3 + 2.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 2.14sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 2.20sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1794440733.79616904 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.22sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 2.22sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1794440733.81768823 seconds ×3 + 2.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 2.81sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 2.88sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1794440734.47858691 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.89sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 2.99sINFOobjective_server_nodeFound path in 0 iterations (2.56e-07 s). ×2 + 2.99sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 3.00sINFOros2_control_node[2026-11-11 23:45:34.592] [info] Received new action goal ×2 + 3.00sINFOros2_control_node[2026-11-11 23:45:34.592] [info] Accepted new action goal ×2 | ||||
| − skipped | Get Bottle Grasp via ICP Subtree | get_bottle_grasp_via_icp_subtree.xml | 0.0s | 3 errors · 6 warnings · 81 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (2.68e-07 s). ×2 + 0.09sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.10sINFOros2_control_node[2026-11-11 23:41:16.246] [info] Received new action goal ×2 + 0.10sINFOros2_control_node[2026-11-11 23:41:16.246] [info] Accepted new action goal ×2 + 2.03sINFOobjective_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 + 2.03sINFOros2_control_node[2026-11-11 23:41:18.175] [info] Got request to cancel active goal. ×2 + 2.03sINFOros2_control_node[2026-11-11 23:41:18.175] [info] Canceling active goal... ×2 + 2.04sERRORobjective_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: 1794440478.18817210 seconds ×3 + 2.08sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.08sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.08sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.09sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.09sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 2.61sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.61sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.61sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.61sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.61sINFOobjective_server_nodecaller: ×2 + 2.61sINFOobjective_server_nodetype: 0 ×2 + 2.61sINFOobjective_server_nodename: "" ×2 + 2.61sINFOobjective_server_nodeinstance_id: "" ×2 + 2.61sINFOobjective_server_nodenode_substitutions: [] ×2 + 2.61sINFOobjective_server_node ×2 + 2.70sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1794440478.84143353 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.70sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.70sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.88sINFOobjective_server_nodeFound path in 0 iterations (3.68e-07 s). ×2 + 2.88sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 2.89sINFOros2_control_node[2026-11-11 23:41:19.036] [info] Received new action goal ×2 + 2.89sINFOros2_control_node[2026-11-11 23:41:19.036] [info] Accepted new action goal ×2 + 4.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.397312 ms (missed cycles : 3). + 5.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.397312 ms (missed cycles : 3).[0m ×2 + 6.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.204782 ms (missed cycles : 3). + 6.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.204782 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Pick object | pick_object.xml | 0.0s | 3 errors · 84 info |
+ 0.00sINFOros2_control_node[2026-11-11 23:44:11.779] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-11-11 23:44:11.779] [info] Accepted new action goal ×2 + 1.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.63sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.64sINFOros2_control_node[2026-11-11 23:44:13.422] [info] Received new action goal ×2 + 1.64sINFOros2_control_node[2026-11-11 23:44:13.422] [info] Accepted new action goal ×2 + 2.89sINFOobjective_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 + 2.90sINFOros2_control_node[2026-11-11 23:44:14.678] [info] Got request to cancel active goal. ×2 + 2.90sINFOros2_control_node[2026-11-11 23:44:14.678] [info] Canceling active goal... ×2 + 2.90sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1794440654.68363118 seconds ×3 + 2.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.94sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.96sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.96sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 3.48sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.48sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.48sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.48sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.48sINFOobjective_server_nodecaller: ×2 + 3.48sINFOobjective_server_nodetype: 0 ×2 + 3.48sINFOobjective_server_nodename: "" ×2 + 3.48sINFOobjective_server_nodeinstance_id: "" ×2 + 3.48sINFOobjective_server_nodenode_substitutions: [] ×2 + 3.48sINFOobjective_server_node ×2 + 3.58sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1794440655.36258626 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.66sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.75sINFOobjective_server_nodeFound path in 0 iterations (4.53e-07 s). ×2 + 3.75sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.76sINFOros2_control_node[2026-11-11 23:44:15.537] [info] Received new action goal ×2 + 3.76sINFOros2_control_node[2026-11-11 23:44:15.537] [info] Accepted new action goal ×2 + 5.67sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − skipped | Add Point Cloud to Vector | add_point_cloud_to_vector.xml | 0.0s | 3 errors · 14 warnings · 118 info |
+ 0.00sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 0.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.300436 ms (missed cycles : 3). + 0.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.300436 ms (missed cycles : 3).[0m ×2 + 1.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.043767 ms (missed cycles : 4). + 1.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.043767 ms (missed cycles : 4).[0m ×2 + 2.22sINFOobjective_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 + 2.23sERRORobjective_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: 1794440455.17610312 seconds ×3 + 2.23sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.23sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.23sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.23sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.23sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.23sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.24sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.24sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 2.77sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.77sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.77sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.77sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.77sINFOobjective_server_nodecaller: ×4 + 2.77sINFOobjective_server_nodetype: 0 ×4 + 2.77sINFOobjective_server_nodename: "" ×4 + 2.77sINFOobjective_server_nodeinstance_id: "" ×4 + 2.77sINFOobjective_server_nodenode_substitutions: [] ×4 + 2.77sINFOobjective_server_node ×4 + 2.83sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1794440455.77827907 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706609 ms (missed cycles : 2). + 2.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706609 ms (missed cycles : 2).[0m ×2 + 2.95sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1794440455.89841413 seconds ×3 + 3.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 3.57sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.64sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1794440456.59212899 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.65sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.65sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.73sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.83sINFOobjective_server_nodeFound path in 0 iterations (3.05e-07 s). ×2 + 3.83sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.84sINFOros2_control_node[2026-11-11 23:40:56.786] [info] Received new action goal ×2 + 3.84sINFOros2_control_node[2026-11-11 23:40:56.786] [info] Accepted new action goal ×2 + 5.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.010479 ms (missed cycles : 2). + 5.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.010479 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Add Poses to MTC Task | add_poses_to_mtc_task.xml | 0.0s | 3 errors · 14 warnings · 118 info |
+ 0.00sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 0.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.300436 ms (missed cycles : 3). + 0.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.300436 ms (missed cycles : 3).[0m ×2 + 1.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.043767 ms (missed cycles : 4). + 1.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.043767 ms (missed cycles : 4).[0m ×2 + 2.22sINFOobjective_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 + 2.23sERRORobjective_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: 1794440455.17610312 seconds ×3 + 2.23sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.23sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.23sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.23sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.23sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.23sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.24sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.24sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 2.77sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.77sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.77sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.77sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.77sINFOobjective_server_nodecaller: ×4 + 2.77sINFOobjective_server_nodetype: 0 ×4 + 2.77sINFOobjective_server_nodename: "" ×4 + 2.77sINFOobjective_server_nodeinstance_id: "" ×4 + 2.77sINFOobjective_server_nodenode_substitutions: [] ×4 + 2.77sINFOobjective_server_node ×4 + 2.83sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1794440455.77827907 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706609 ms (missed cycles : 2). + 2.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706609 ms (missed cycles : 2).[0m ×2 + 2.95sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1794440455.89841413 seconds ×3 + 3.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 3.57sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.64sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1794440456.59212899 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.65sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.65sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.73sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.83sINFOobjective_server_nodeFound path in 0 iterations (3.05e-07 s). ×2 + 3.83sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.84sINFOros2_control_node[2026-11-11 23:40:56.786] [info] Received new action goal ×2 + 3.84sINFOros2_control_node[2026-11-11 23:40:56.786] [info] Accepted new action goal ×2 + 5.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.010479 ms (missed cycles : 2). + 5.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.010479 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Add Waypoints to MTC Task | add_waypoints_to_mtc_task.xml | 0.0s | 3 errors · 15 warnings · 118 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.300436 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.300436 ms (missed cycles : 3).[0m ×2 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.043767 ms (missed cycles : 4). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.043767 ms (missed cycles : 4).[0m ×2 + 1.58sINFOobjective_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 + 1.58sERRORobjective_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: 1794440455.17610312 seconds ×3 + 1.58sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.58sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.58sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.58sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.58sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.58sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.59sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.59sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.59sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.59sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.59sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.59sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.12sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 2.12sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.12sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.12sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.12sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.12sINFOobjective_server_nodecaller: ×4 + 2.12sINFOobjective_server_nodetype: 0 ×4 + 2.12sINFOobjective_server_nodename: "" ×4 + 2.12sINFOobjective_server_nodeinstance_id: "" ×4 + 2.12sINFOobjective_server_nodenode_substitutions: [] ×4 + 2.12sINFOobjective_server_node ×4 + 2.18sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1794440455.77827907 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706609 ms (missed cycles : 2). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706609 ms (missed cycles : 2).[0m ×2 + 2.30sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1794440455.89841413 seconds ×3 + 2.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 2.92sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 2.99sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1794440456.59212899 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.08sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.18sINFOobjective_server_nodeFound path in 0 iterations (3.05e-07 s). ×2 + 3.18sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.19sINFOros2_control_node[2026-11-11 23:40:56.786] [info] Received new action goal ×2 + 3.19sINFOros2_control_node[2026-11-11 23:40:56.786] [info] Accepted new action goal ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.010479 ms (missed cycles : 2). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.010479 ms (missed cycles : 2).[0m ×2 + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.198777 ms (missed cycles : 2). + 6.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.198777 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | AddBottlesToPlanningScene | addbottlestoplanningscene.xml | 0.0s | 3 errors · 15 warnings · 118 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.300436 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.300436 ms (missed cycles : 3).[0m ×2 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.043767 ms (missed cycles : 4). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.043767 ms (missed cycles : 4).[0m ×2 + 1.58sINFOobjective_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 + 1.58sERRORobjective_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: 1794440455.17610312 seconds ×3 + 1.58sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.58sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.58sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.58sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.58sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.58sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.59sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.59sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.59sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.59sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.59sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.59sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.12sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 2.12sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.12sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.12sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.12sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.12sINFOobjective_server_nodecaller: ×4 + 2.12sINFOobjective_server_nodetype: 0 ×4 + 2.12sINFOobjective_server_nodename: "" ×4 + 2.12sINFOobjective_server_nodeinstance_id: "" ×4 + 2.12sINFOobjective_server_nodenode_substitutions: [] ×4 + 2.12sINFOobjective_server_node ×4 + 2.18sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1794440455.77827907 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706609 ms (missed cycles : 2). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706609 ms (missed cycles : 2).[0m ×2 + 2.30sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1794440455.89841413 seconds ×3 + 2.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 2.92sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 2.99sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1794440456.59212899 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.08sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.18sINFOobjective_server_nodeFound path in 0 iterations (3.05e-07 s). ×2 + 3.18sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.19sINFOros2_control_node[2026-11-11 23:40:56.786] [info] Received new action goal ×2 + 3.19sINFOros2_control_node[2026-11-11 23:40:56.786] [info] Accepted new action goal ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.010479 ms (missed cycles : 2). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.010479 ms (missed cycles : 2).[0m ×2 + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.198777 ms (missed cycles : 2). + 6.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.198777 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | AddCollisionBoxInFrontOfEndEffector | addcollisionboxinfrontofendeffector.xml | 0.0s | 3 errors · 15 warnings · 118 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.300436 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.300436 ms (missed cycles : 3).[0m ×2 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.043767 ms (missed cycles : 4). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.043767 ms (missed cycles : 4).[0m ×2 + 1.58sINFOobjective_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 + 1.58sERRORobjective_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: 1794440455.17610312 seconds ×3 + 1.58sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.58sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.58sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.58sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.58sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.58sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.59sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.59sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.59sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.59sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.59sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.59sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.12sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 2.12sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.12sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.12sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.12sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.12sINFOobjective_server_nodecaller: ×4 + 2.12sINFOobjective_server_nodetype: 0 ×4 + 2.12sINFOobjective_server_nodename: "" ×4 + 2.12sINFOobjective_server_nodeinstance_id: "" ×4 + 2.12sINFOobjective_server_nodenode_substitutions: [] ×4 + 2.12sINFOobjective_server_node ×4 + 2.18sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1794440455.77827907 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706609 ms (missed cycles : 2). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706609 ms (missed cycles : 2).[0m ×2 + 2.30sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1794440455.89841413 seconds ×3 + 2.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 2.92sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 2.99sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1794440456.59212899 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.08sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.18sINFOobjective_server_nodeFound path in 0 iterations (3.05e-07 s). ×2 + 3.18sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.19sINFOros2_control_node[2026-11-11 23:40:56.786] [info] Received new action goal ×2 + 3.19sINFOros2_control_node[2026-11-11 23:40:56.786] [info] Accepted new action goal ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.010479 ms (missed cycles : 2). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.010479 ms (missed cycles : 2).[0m ×2 + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.198777 ms (missed cycles : 2). + 6.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.198777 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | AddCollisionObjectToPlanningScene | addcollisionobjecttoplanningscene.xml | 0.0s | 3 errors · 15 warnings · 118 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.300436 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.300436 ms (missed cycles : 3).[0m ×2 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.043767 ms (missed cycles : 4). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.043767 ms (missed cycles : 4).[0m ×2 + 1.58sINFOobjective_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 + 1.58sERRORobjective_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: 1794440455.17610312 seconds ×3 + 1.58sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.58sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.58sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.58sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.58sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.58sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.59sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.59sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.59sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.59sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.59sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.59sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.12sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 2.12sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.12sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.12sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.12sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.12sINFOobjective_server_nodecaller: ×4 + 2.12sINFOobjective_server_nodetype: 0 ×4 + 2.12sINFOobjective_server_nodename: "" ×4 + 2.12sINFOobjective_server_nodeinstance_id: "" ×4 + 2.12sINFOobjective_server_nodenode_substitutions: [] ×4 + 2.12sINFOobjective_server_node ×4 + 2.18sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1794440455.77827907 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706609 ms (missed cycles : 2). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706609 ms (missed cycles : 2).[0m ×2 + 2.30sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1794440455.89841413 seconds ×3 + 2.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 2.92sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 2.99sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1794440456.59212899 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.08sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.18sINFOobjective_server_nodeFound path in 0 iterations (3.05e-07 s). ×2 + 3.18sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.19sINFOros2_control_node[2026-11-11 23:40:56.786] [info] Received new action goal ×2 + 3.19sINFOros2_control_node[2026-11-11 23:40:56.786] [info] Accepted new action goal ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.010479 ms (missed cycles : 2). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.010479 ms (missed cycles : 2).[0m ×2 + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.198777 ms (missed cycles : 2). + 6.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.198777 ms (missed cycles : 2).[0m ×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 + 0.34sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.36sINFOros2_control_node[2026-11-11 23:41:05.426] [info] Received new action goal ×2 + 0.36sINFOros2_control_node[2026-11-11 23:41:05.426] [info] Accepted new action goal ×2 + 1.66sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1794440466.72233653 seconds ×3 + 1.66sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.66sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.66sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.66sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.66sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.66sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.67sINFOros2_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: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 2.19sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.19sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.19sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.19sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.19sINFOobjective_server_nodecaller: ×4 + 2.19sINFOobjective_server_nodetype: 0 ×4 + 2.19sINFOobjective_server_nodename: "" ×4 + 2.19sINFOobjective_server_nodeinstance_id: "" ×4 + 2.19sINFOobjective_server_nodenode_substitutions: [] ×4 + 2.19sINFOobjective_server_node ×4 + 2.27sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1794440467.33992338 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.37sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1794440467.43006563 seconds ×3 + 2.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 2.95sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.02sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1794440468.08508897 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.03sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.13sINFOobjective_server_nodeFound path in 0 iterations (2.78e-07 s). ×2 + 3.13sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.15sINFOros2_control_node[2026-11-11 23:41:08.210] [info] Received new action goal ×2 + 3.15sINFOros2_control_node[2026-11-11 23:41:08.210] [info] Accepted new action goal ×2 + 6.49sINFOobjective_server_nodeFound path in 0 iterations (2.63e-07 s). ×2 + 6.49sINFOobjective_server_nodePath shortcutter: [X________X] ×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 + 0.34sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.36sINFOros2_control_node[2026-11-11 23:41:05.426] [info] Received new action goal ×2 + 0.36sINFOros2_control_node[2026-11-11 23:41:05.426] [info] Accepted new action goal ×2 + 1.66sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1794440466.72233653 seconds ×3 + 1.66sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.66sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.66sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.66sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.66sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.66sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.67sINFOros2_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: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 2.19sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.19sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.19sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.19sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.19sINFOobjective_server_nodecaller: ×4 + 2.19sINFOobjective_server_nodetype: 0 ×4 + 2.19sINFOobjective_server_nodename: "" ×4 + 2.19sINFOobjective_server_nodeinstance_id: "" ×4 + 2.19sINFOobjective_server_nodenode_substitutions: [] ×4 + 2.19sINFOobjective_server_node ×4 + 2.27sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1794440467.33992338 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.37sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1794440467.43006563 seconds ×3 + 2.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 2.95sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.02sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1794440468.08508897 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.03sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.13sINFOobjective_server_nodeFound path in 0 iterations (2.78e-07 s). ×2 + 3.13sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.15sINFOros2_control_node[2026-11-11 23:41:08.210] [info] Received new action goal ×2 + 3.15sINFOros2_control_node[2026-11-11 23:41:08.210] [info] Accepted new action goal ×2 + 6.49sINFOobjective_server_nodeFound path in 0 iterations (2.63e-07 s). ×2 + 6.49sINFOobjective_server_nodePath shortcutter: [X________X] ×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 + 0.34sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.36sINFOros2_control_node[2026-11-11 23:41:05.426] [info] Received new action goal ×2 + 0.36sINFOros2_control_node[2026-11-11 23:41:05.426] [info] Accepted new action goal ×2 + 1.66sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1794440466.72233653 seconds ×3 + 1.66sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.66sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.66sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.66sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.66sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.66sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.67sINFOros2_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: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 2.19sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.19sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.19sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.19sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.19sINFOobjective_server_nodecaller: ×4 + 2.19sINFOobjective_server_nodetype: 0 ×4 + 2.19sINFOobjective_server_nodename: "" ×4 + 2.19sINFOobjective_server_nodeinstance_id: "" ×4 + 2.19sINFOobjective_server_nodenode_substitutions: [] ×4 + 2.19sINFOobjective_server_node ×4 + 2.27sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1794440467.33992338 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.37sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1794440467.43006563 seconds ×3 + 2.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 2.95sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.02sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1794440468.08508897 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.03sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.13sINFOobjective_server_nodeFound path in 0 iterations (2.78e-07 s). ×2 + 3.13sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.15sINFOros2_control_node[2026-11-11 23:41:08.210] [info] Received new action goal ×2 + 3.15sINFOros2_control_node[2026-11-11 23:41:08.210] [info] Accepted new action goal ×2 + 6.49sINFOobjective_server_nodeFound path in 0 iterations (2.63e-07 s). ×2 + 6.49sINFOobjective_server_nodePath shortcutter: [X________X] ×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 + 0.34sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.36sINFOros2_control_node[2026-11-11 23:41:05.426] [info] Received new action goal ×2 + 0.36sINFOros2_control_node[2026-11-11 23:41:05.426] [info] Accepted new action goal ×2 + 1.66sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1794440466.72233653 seconds ×3 + 1.66sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.66sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.66sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.66sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.66sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.66sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.67sINFOros2_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: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 2.19sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.19sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.19sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.19sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.19sINFOobjective_server_nodecaller: ×4 + 2.19sINFOobjective_server_nodetype: 0 ×4 + 2.19sINFOobjective_server_nodename: "" ×4 + 2.19sINFOobjective_server_nodeinstance_id: "" ×4 + 2.19sINFOobjective_server_nodenode_substitutions: [] ×4 + 2.19sINFOobjective_server_node ×4 + 2.27sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1794440467.33992338 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.37sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1794440467.43006563 seconds ×3 + 2.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 2.95sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.02sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1794440468.08508897 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.03sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.13sINFOobjective_server_nodeFound path in 0 iterations (2.78e-07 s). ×2 + 3.13sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.15sINFOros2_control_node[2026-11-11 23:41:08.210] [info] Received new action goal ×2 + 3.15sINFOros2_control_node[2026-11-11 23:41:08.210] [info] Accepted new action goal ×2 + 6.49sINFOobjective_server_nodeFound path in 0 iterations (2.63e-07 s). ×2 + 6.49sINFOobjective_server_nodePath shortcutter: [X________X] ×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 + 0.34sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.36sINFOros2_control_node[2026-11-11 23:41:05.426] [info] Received new action goal ×2 + 0.36sINFOros2_control_node[2026-11-11 23:41:05.426] [info] Accepted new action goal ×2 + 1.66sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1794440466.72233653 seconds ×3 + 1.66sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.66sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.66sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.66sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.66sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.66sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.67sINFOros2_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: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 2.19sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.19sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.19sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.19sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.19sINFOobjective_server_nodecaller: ×4 + 2.19sINFOobjective_server_nodetype: 0 ×4 + 2.19sINFOobjective_server_nodename: "" ×4 + 2.19sINFOobjective_server_nodeinstance_id: "" ×4 + 2.19sINFOobjective_server_nodenode_substitutions: [] ×4 + 2.19sINFOobjective_server_node ×4 + 2.27sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1794440467.33992338 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.37sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1794440467.43006563 seconds ×3 + 2.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 2.95sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.02sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1794440468.08508897 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.03sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.13sINFOobjective_server_nodeFound path in 0 iterations (2.78e-07 s). ×2 + 3.13sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.15sINFOros2_control_node[2026-11-11 23:41:08.210] [info] Received new action goal ×2 + 3.15sINFOros2_control_node[2026-11-11 23:41:08.210] [info] Accepted new action goal ×2 + 6.49sINFOobjective_server_nodeFound path in 0 iterations (2.63e-07 s). ×2 + 6.49sINFOobjective_server_nodePath shortcutter: [X________X] ×2 | ||||
| − skipped | Detect AprilTags on Table | detect_apriltags_on_table.xml | 0.0s | 3 errors · 3 warnings · 81 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (2.68e-07 s). ×2 + 0.09sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.10sINFOros2_control_node[2026-11-11 23:41:16.246] [info] Received new action goal ×2 + 0.10sINFOros2_control_node[2026-11-11 23:41:16.246] [info] Accepted new action goal ×2 + 2.03sINFOobjective_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 + 2.03sINFOros2_control_node[2026-11-11 23:41:18.175] [info] Got request to cancel active goal. ×2 + 2.03sINFOros2_control_node[2026-11-11 23:41:18.175] [info] Canceling active goal... ×2 + 2.04sERRORobjective_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: 1794440478.18817210 seconds ×3 + 2.08sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.08sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.08sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.09sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.09sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 2.61sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.61sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.61sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.61sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.61sINFOobjective_server_nodecaller: ×2 + 2.61sINFOobjective_server_nodetype: 0 ×2 + 2.61sINFOobjective_server_nodename: "" ×2 + 2.61sINFOobjective_server_nodeinstance_id: "" ×2 + 2.61sINFOobjective_server_nodenode_substitutions: [] ×2 + 2.61sINFOobjective_server_node ×2 + 2.70sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1794440478.84143353 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.70sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.70sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.88sINFOobjective_server_nodeFound path in 0 iterations (3.68e-07 s). ×2 + 2.88sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 2.89sINFOros2_control_node[2026-11-11 23:41:19.036] [info] Received new action goal ×2 + 2.89sINFOros2_control_node[2026-11-11 23:41:19.036] [info] Accepted new action goal ×2 + 4.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.397312 ms (missed cycles : 3). + 5.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.397312 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | ErrorCheckVectorSize | errorcheckvectorsize.xml | 0.0s | 3 errors · 3 warnings · 81 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (2.68e-07 s). ×2 + 0.09sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.10sINFOros2_control_node[2026-11-11 23:41:16.246] [info] Received new action goal ×2 + 0.10sINFOros2_control_node[2026-11-11 23:41:16.246] [info] Accepted new action goal ×2 + 2.03sINFOobjective_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 + 2.03sINFOros2_control_node[2026-11-11 23:41:18.175] [info] Got request to cancel active goal. ×2 + 2.03sINFOros2_control_node[2026-11-11 23:41:18.175] [info] Canceling active goal... ×2 + 2.04sERRORobjective_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: 1794440478.18817210 seconds ×3 + 2.08sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.08sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.08sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.09sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.09sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 2.61sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.61sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.61sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.61sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.61sINFOobjective_server_nodecaller: ×2 + 2.61sINFOobjective_server_nodetype: 0 ×2 + 2.61sINFOobjective_server_nodename: "" ×2 + 2.61sINFOobjective_server_nodeinstance_id: "" ×2 + 2.61sINFOobjective_server_nodenode_substitutions: [] ×2 + 2.61sINFOobjective_server_node ×2 + 2.70sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1794440478.84143353 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.70sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.70sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.88sINFOobjective_server_nodeFound path in 0 iterations (3.68e-07 s). ×2 + 2.88sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 2.89sINFOros2_control_node[2026-11-11 23:41:19.036] [info] Received new action goal ×2 + 2.89sINFOros2_control_node[2026-11-11 23:41:19.036] [info] Accepted new action goal ×2 + 4.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.397312 ms (missed cycles : 3). + 5.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.397312 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Fan Pose About Tool-Z Subtree | fan_pose_about_tool_z_subtree.xml | 0.0s | 3 errors · 3 warnings · 81 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (2.68e-07 s). ×2 + 0.09sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.10sINFOros2_control_node[2026-11-11 23:41:16.246] [info] Received new action goal ×2 + 0.10sINFOros2_control_node[2026-11-11 23:41:16.246] [info] Accepted new action goal ×2 + 2.03sINFOobjective_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 + 2.03sINFOros2_control_node[2026-11-11 23:41:18.175] [info] Got request to cancel active goal. ×2 + 2.03sINFOros2_control_node[2026-11-11 23:41:18.175] [info] Canceling active goal... ×2 + 2.04sERRORobjective_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: 1794440478.18817210 seconds ×3 + 2.08sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.08sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.08sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.09sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.09sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 2.61sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.61sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.61sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.61sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.61sINFOobjective_server_nodecaller: ×2 + 2.61sINFOobjective_server_nodetype: 0 ×2 + 2.61sINFOobjective_server_nodename: "" ×2 + 2.61sINFOobjective_server_nodeinstance_id: "" ×2 + 2.61sINFOobjective_server_nodenode_substitutions: [] ×2 + 2.61sINFOobjective_server_node ×2 + 2.70sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1794440478.84143353 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.70sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.70sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.88sINFOobjective_server_nodeFound path in 0 iterations (3.68e-07 s). ×2 + 2.88sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 2.89sINFOros2_control_node[2026-11-11 23:41:19.036] [info] Received new action goal ×2 + 2.89sINFOros2_control_node[2026-11-11 23:41:19.036] [info] Accepted new action goal ×2 + 4.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.397312 ms (missed cycles : 3). + 5.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.397312 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Fit Bottle Model Subtree | fit_bottle_model_subtree.xml | 0.0s | 3 errors · 3 warnings · 81 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (2.68e-07 s). ×2 + 0.09sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.10sINFOros2_control_node[2026-11-11 23:41:16.246] [info] Received new action goal ×2 + 0.10sINFOros2_control_node[2026-11-11 23:41:16.246] [info] Accepted new action goal ×2 + 2.03sINFOobjective_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 + 2.03sINFOros2_control_node[2026-11-11 23:41:18.175] [info] Got request to cancel active goal. ×2 + 2.03sINFOros2_control_node[2026-11-11 23:41:18.175] [info] Canceling active goal... ×2 + 2.04sERRORobjective_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: 1794440478.18817210 seconds ×3 + 2.08sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.08sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.08sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.09sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.09sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 2.61sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.61sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.61sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.61sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.61sINFOobjective_server_nodecaller: ×2 + 2.61sINFOobjective_server_nodetype: 0 ×2 + 2.61sINFOobjective_server_nodename: "" ×2 + 2.61sINFOobjective_server_nodeinstance_id: "" ×2 + 2.61sINFOobjective_server_nodenode_substitutions: [] ×2 + 2.61sINFOobjective_server_node ×2 + 2.70sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1794440478.84143353 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.70sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.70sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.88sINFOobjective_server_nodeFound path in 0 iterations (3.68e-07 s). ×2 + 2.88sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 2.89sINFOros2_control_node[2026-11-11 23:41:19.036] [info] Received new action goal ×2 + 2.89sINFOros2_control_node[2026-11-11 23:41:19.036] [info] Accepted new action goal ×2 + 4.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.397312 ms (missed cycles : 3). + 5.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.397312 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Force Relaxation | force_relaxation.xml | 0.0s | 3 errors · 3 warnings · 81 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (2.68e-07 s). ×2 + 0.09sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.10sINFOros2_control_node[2026-11-11 23:41:16.246] [info] Received new action goal ×2 + 0.10sINFOros2_control_node[2026-11-11 23:41:16.246] [info] Accepted new action goal ×2 + 2.03sINFOobjective_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 + 2.03sINFOros2_control_node[2026-11-11 23:41:18.175] [info] Got request to cancel active goal. ×2 + 2.03sINFOros2_control_node[2026-11-11 23:41:18.175] [info] Canceling active goal... ×2 + 2.04sERRORobjective_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: 1794440478.18817210 seconds ×3 + 2.08sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.08sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.08sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.09sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.09sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 2.61sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.61sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.61sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.61sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.61sINFOobjective_server_nodecaller: ×2 + 2.61sINFOobjective_server_nodetype: 0 ×2 + 2.61sINFOobjective_server_nodename: "" ×2 + 2.61sINFOobjective_server_nodeinstance_id: "" ×2 + 2.61sINFOobjective_server_nodenode_substitutions: [] ×2 + 2.61sINFOobjective_server_node ×2 + 2.70sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1794440478.84143353 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.70sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.70sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.88sINFOobjective_server_nodeFound path in 0 iterations (3.68e-07 s). ×2 + 2.88sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 2.89sINFOros2_control_node[2026-11-11 23:41:19.036] [info] Received new action goal ×2 + 2.89sINFOros2_control_node[2026-11-11 23:41:19.036] [info] Accepted new action goal ×2 + 4.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.397312 ms (missed cycles : 3). + 5.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.397312 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Fuse Multiple Views Subtree | fuse_multiple_views_subtree.xml | 0.0s | 3 errors · 3 warnings · 81 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (2.68e-07 s). ×2 + 0.09sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.10sINFOros2_control_node[2026-11-11 23:41:16.246] [info] Received new action goal ×2 + 0.10sINFOros2_control_node[2026-11-11 23:41:16.246] [info] Accepted new action goal ×2 + 2.03sINFOobjective_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 + 2.03sINFOros2_control_node[2026-11-11 23:41:18.175] [info] Got request to cancel active goal. ×2 + 2.03sINFOros2_control_node[2026-11-11 23:41:18.175] [info] Canceling active goal... ×2 + 2.04sERRORobjective_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: 1794440478.18817210 seconds ×3 + 2.08sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.08sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.08sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.09sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.09sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 2.61sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.61sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.61sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.61sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.61sINFOobjective_server_nodecaller: ×2 + 2.61sINFOobjective_server_nodetype: 0 ×2 + 2.61sINFOobjective_server_nodename: "" ×2 + 2.61sINFOobjective_server_nodeinstance_id: "" ×2 + 2.61sINFOobjective_server_nodenode_substitutions: [] ×2 + 2.61sINFOobjective_server_node ×2 + 2.70sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1794440478.84143353 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.70sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.70sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.88sINFOobjective_server_nodeFound path in 0 iterations (3.68e-07 s). ×2 + 2.88sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 2.89sINFOros2_control_node[2026-11-11 23:41:19.036] [info] Received new action goal ×2 + 2.89sINFOros2_control_node[2026-11-11 23:41:19.036] [info] Accepted new action goal ×2 + 4.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.397312 ms (missed cycles : 3). + 5.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.397312 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Get AprilTag Pose from Image | get_april_tag_pose_from_image.xml | 0.0s | 3 errors · 3 warnings · 81 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (2.68e-07 s). ×2 + 0.09sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.10sINFOros2_control_node[2026-11-11 23:41:16.246] [info] Received new action goal ×2 + 0.10sINFOros2_control_node[2026-11-11 23:41:16.246] [info] Accepted new action goal ×2 + 2.03sINFOobjective_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 + 2.03sINFOros2_control_node[2026-11-11 23:41:18.175] [info] Got request to cancel active goal. ×2 + 2.03sINFOros2_control_node[2026-11-11 23:41:18.175] [info] Canceling active goal... ×2 + 2.04sERRORobjective_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: 1794440478.18817210 seconds ×3 + 2.08sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.08sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.08sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.09sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.09sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 2.61sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.61sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.61sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.61sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.61sINFOobjective_server_nodecaller: ×2 + 2.61sINFOobjective_server_nodetype: 0 ×2 + 2.61sINFOobjective_server_nodename: "" ×2 + 2.61sINFOobjective_server_nodeinstance_id: "" ×2 + 2.61sINFOobjective_server_nodenode_substitutions: [] ×2 + 2.61sINFOobjective_server_node ×2 + 2.70sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1794440478.84143353 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.70sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.70sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.88sINFOobjective_server_nodeFound path in 0 iterations (3.68e-07 s). ×2 + 2.88sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 2.89sINFOros2_control_node[2026-11-11 23:41:19.036] [info] Received new action goal ×2 + 2.89sINFOros2_control_node[2026-11-11 23:41:19.036] [info] Accepted new action goal ×2 + 4.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.397312 ms (missed cycles : 3). + 5.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.397312 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Get Collision Free Grasp Subtree | get_collision_free_grasp_subtree.xml | 0.0s | 3 errors · 3 warnings · 81 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (2.68e-07 s). ×2 + 0.09sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.10sINFOros2_control_node[2026-11-11 23:41:16.246] [info] Received new action goal ×2 + 0.10sINFOros2_control_node[2026-11-11 23:41:16.246] [info] Accepted new action goal ×2 + 2.03sINFOobjective_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 + 2.03sINFOros2_control_node[2026-11-11 23:41:18.175] [info] Got request to cancel active goal. ×2 + 2.03sINFOros2_control_node[2026-11-11 23:41:18.175] [info] Canceling active goal... ×2 + 2.04sERRORobjective_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: 1794440478.18817210 seconds ×3 + 2.08sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.08sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.08sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.09sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.09sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 2.61sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.61sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.61sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.61sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.61sINFOobjective_server_nodecaller: ×2 + 2.61sINFOobjective_server_nodetype: 0 ×2 + 2.61sINFOobjective_server_nodename: "" ×2 + 2.61sINFOobjective_server_nodeinstance_id: "" ×2 + 2.61sINFOobjective_server_nodenode_substitutions: [] ×2 + 2.61sINFOobjective_server_node ×2 + 2.70sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1794440478.84143353 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.70sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.70sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.88sINFOobjective_server_nodeFound path in 0 iterations (3.68e-07 s). ×2 + 2.88sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 2.89sINFOros2_control_node[2026-11-11 23:41:19.036] [info] Received new action goal ×2 + 2.89sINFOros2_control_node[2026-11-11 23:41:19.036] [info] Accepted new action goal ×2 + 4.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.397312 ms (missed cycles : 3). + 5.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.397312 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Get Fresh Point Cloud | get_fresh_point_cloud.xml | 0.0s | 3 errors · 3 warnings · 81 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (2.68e-07 s). ×2 + 0.09sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.10sINFOros2_control_node[2026-11-11 23:41:16.246] [info] Received new action goal ×2 + 0.10sINFOros2_control_node[2026-11-11 23:41:16.246] [info] Accepted new action goal ×2 + 2.03sINFOobjective_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 + 2.03sINFOros2_control_node[2026-11-11 23:41:18.175] [info] Got request to cancel active goal. ×2 + 2.03sINFOros2_control_node[2026-11-11 23:41:18.175] [info] Canceling active goal... ×2 + 2.04sERRORobjective_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: 1794440478.18817210 seconds ×3 + 2.08sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.08sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.08sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.09sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.09sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 2.61sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.61sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.61sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.61sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.61sINFOobjective_server_nodecaller: ×2 + 2.61sINFOobjective_server_nodetype: 0 ×2 + 2.61sINFOobjective_server_nodename: "" ×2 + 2.61sINFOobjective_server_nodeinstance_id: "" ×2 + 2.61sINFOobjective_server_nodenode_substitutions: [] ×2 + 2.61sINFOobjective_server_node ×2 + 2.70sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1794440478.84143353 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.70sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.70sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.88sINFOobjective_server_nodeFound path in 0 iterations (3.68e-07 s). ×2 + 2.88sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 2.89sINFOros2_control_node[2026-11-11 23:41:19.036] [info] Received new action goal ×2 + 2.89sINFOros2_control_node[2026-11-11 23:41:19.036] [info] Accepted new action goal ×2 + 4.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.397312 ms (missed cycles : 3). + 5.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.397312 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | GetPoseAtGripperandDisplay | get_pose_at_gripper_and_display.xml | 0.0s | 3 errors · 3 warnings · 81 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (2.68e-07 s). ×2 + 0.09sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.10sINFOros2_control_node[2026-11-11 23:41:16.246] [info] Received new action goal ×2 + 0.10sINFOros2_control_node[2026-11-11 23:41:16.246] [info] Accepted new action goal ×2 + 2.03sINFOobjective_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 + 2.03sINFOros2_control_node[2026-11-11 23:41:18.175] [info] Got request to cancel active goal. ×2 + 2.03sINFOros2_control_node[2026-11-11 23:41:18.175] [info] Canceling active goal... ×2 + 2.04sERRORobjective_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: 1794440478.18817210 seconds ×3 + 2.08sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.08sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.08sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.09sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.09sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 2.61sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.61sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.61sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.61sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.61sINFOobjective_server_nodecaller: ×2 + 2.61sINFOobjective_server_nodetype: 0 ×2 + 2.61sINFOobjective_server_nodename: "" ×2 + 2.61sINFOobjective_server_nodeinstance_id: "" ×2 + 2.61sINFOobjective_server_nodenode_substitutions: [] ×2 + 2.61sINFOobjective_server_node ×2 + 2.70sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1794440478.84143353 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.70sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.70sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.88sINFOobjective_server_nodeFound path in 0 iterations (3.68e-07 s). ×2 + 2.88sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 2.89sINFOros2_control_node[2026-11-11 23:41:19.036] [info] Received new action goal ×2 + 2.89sINFOros2_control_node[2026-11-11 23:41:19.036] [info] Accepted new action goal ×2 + 4.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.397312 ms (missed cycles : 3). + 5.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.397312 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Get Transform Frame Pose | get_transform_frame_pose.xml | 0.0s | 3 errors · 3 warnings · 81 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (2.68e-07 s). ×2 + 0.09sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.10sINFOros2_control_node[2026-11-11 23:41:16.246] [info] Received new action goal ×2 + 0.10sINFOros2_control_node[2026-11-11 23:41:16.246] [info] Accepted new action goal ×2 + 2.03sINFOobjective_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 + 2.03sINFOros2_control_node[2026-11-11 23:41:18.175] [info] Got request to cancel active goal. ×2 + 2.03sINFOros2_control_node[2026-11-11 23:41:18.175] [info] Canceling active goal... ×2 + 2.04sERRORobjective_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: 1794440478.18817210 seconds ×3 + 2.08sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.08sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.08sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.09sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.09sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 2.61sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.61sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.61sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.61sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.61sINFOobjective_server_nodecaller: ×2 + 2.61sINFOobjective_server_nodetype: 0 ×2 + 2.61sINFOobjective_server_nodename: "" ×2 + 2.61sINFOobjective_server_nodeinstance_id: "" ×2 + 2.61sINFOobjective_server_nodenode_substitutions: [] ×2 + 2.61sINFOobjective_server_node ×2 + 2.70sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1794440478.84143353 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.70sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.70sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.88sINFOobjective_server_nodeFound path in 0 iterations (3.68e-07 s). ×2 + 2.88sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 2.89sINFOros2_control_node[2026-11-11 23:41:19.036] [info] Received new action goal ×2 + 2.89sINFOros2_control_node[2026-11-11 23:41:19.036] [info] Accepted new action goal ×2 + 4.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.397312 ms (missed cycles : 3). + 5.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.397312 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Grasp Planning | grasp_planning.xml | 0.0s | 3 errors · 3 warnings · 81 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (2.68e-07 s). ×2 + 0.09sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.10sINFOros2_control_node[2026-11-11 23:41:16.246] [info] Received new action goal ×2 + 0.10sINFOros2_control_node[2026-11-11 23:41:16.246] [info] Accepted new action goal ×2 + 2.03sINFOobjective_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 + 2.03sINFOros2_control_node[2026-11-11 23:41:18.175] [info] Got request to cancel active goal. ×2 + 2.03sINFOros2_control_node[2026-11-11 23:41:18.175] [info] Canceling active goal... ×2 + 2.04sERRORobjective_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: 1794440478.18817210 seconds ×3 + 2.08sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.08sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.08sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.09sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.09sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 2.61sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.61sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.61sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.61sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.61sINFOobjective_server_nodecaller: ×2 + 2.61sINFOobjective_server_nodetype: 0 ×2 + 2.61sINFOobjective_server_nodename: "" ×2 + 2.61sINFOobjective_server_nodeinstance_id: "" ×2 + 2.61sINFOobjective_server_nodenode_substitutions: [] ×2 + 2.61sINFOobjective_server_node ×2 + 2.70sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1794440478.84143353 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.70sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.70sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.88sINFOobjective_server_nodeFound path in 0 iterations (3.68e-07 s). ×2 + 2.88sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 2.89sINFOros2_control_node[2026-11-11 23:41:19.036] [info] Received new action goal ×2 + 2.89sINFOros2_control_node[2026-11-11 23:41:19.036] [info] Accepted new action goal ×2 + 4.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.397312 ms (missed cycles : 3). + 5.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.397312 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Joint Diagnostic | joint_diagnostic.xml | 0.0s | 3 errors · 3 warnings · 102 info |
+ 0.00sINFOobjective_server_nodeFound path in 0 iterations (3.03e-07 s). ×2 + 0.00sINFOobjective_server_nodePath shortcutter: [X__X] ×2 + 0.00sINFOobjective_server_nodeFound path in 0 iterations (2.67e-07 s). ×2 + 0.01sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 0.02sINFOobjective_server_nodeFound path in 0 iterations (1.88e-07 s). ×2 + 0.12sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X] ×2 + 0.15sINFOobjective_server_nodeFound path in 1 iterations (0.00350492 s). ×2 + 0.32sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________________________X_________________X] ×2 + 0.38sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.39sINFOros2_control_node[2026-11-11 23:41:38.105] [info] Received new action goal ×2 + 0.39sINFOros2_control_node[2026-11-11 23:41:38.105] [info] Accepted new action goal ×2 + 0.82sINFOros2_control_node[2026-11-11 23:41:38.537] [info] Received new action goal ×2 + 0.82sINFOros2_control_node[2026-11-11 23:41:38.537] [info] Accepted new action goal ×2 + 2.14sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.14sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.46sINFOobjective_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 + 2.46sINFOrobotiq_gripper_controllerGot request to cancel goal + 2.46sINFOrobotiq_gripper_controllerCanceling active action goal because cancel callback received. + 2.46sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 2.46sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×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: 1794440500.20317888 seconds ×3 + 2.49sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.49sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.49sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.49sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.49sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.50sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.50sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.50sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.50sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.50sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.51sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.51sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Live Surface Coverage Demo"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 3.18sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.18sINFOobjective_server_nodeobjective_name: "Live Surface Coverage Demo" ×2 + 3.18sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.18sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.18sINFOobjective_server_nodecaller: ×2 + 3.18sINFOobjective_server_nodetype: 0 ×2 + 3.18sINFOobjective_server_nodename: "" ×2 + 3.18sINFOobjective_server_nodeinstance_id: "" ×2 + 3.18sINFOobjective_server_nodenode_substitutions: [] ×2 + 3.18sINFOobjective_server_node ×2 + 3.30sINFOobjective_server_nodeObjective `Live Surface Coverage Demo` starting at time: 1794440501.01648307 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.31sINFOobjective_server_nodeFound path in 0 iterations (2.78e-07 s). ×2 + 4.32sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.33sINFOros2_control_node[2026-11-11 23:41:42.041] [info] Received new action goal ×2 + 4.33sINFOros2_control_node[2026-11-11 23:41:42.041] [info] Accepted new action goal ×2 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.037829 ms (missed cycles : 2). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.037829 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | LoadAndVisualizePointCloud | load_and_visualize_point_cloud.xml | 0.0s | 3 warnings · 142 info |
+ 0.00sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1794440532.17460179 seconds ×3 + 0.01sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 0.01sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 0.01sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×6 + 0.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 0.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 0.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 0.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 0.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 0.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load MuJoCo Robot State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 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_nodenode_substitutions: [] ×4 + 0.54sINFOobjective_server_node ×4 + 0.59sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1794440532.76869678 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.64sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 0.64sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 0.65sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 0.65sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 0.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.765270 ms (missed cycles : 8). + 0.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.765270 ms (missed cycles : 8).[0m ×2 + 0.67sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1794440532.84886932 seconds ×3 + 1.41sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 1.41sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 1.47sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1794440533.64188576 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.48sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 1.57sINFOobjective_server_nodeFound path in 0 iterations (2.73e-07 s). ×2 + 1.57sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.58sINFOros2_control_node[2026-11-11 23:42:13.756] [info] Received new action goal ×2 + 1.58sINFOros2_control_node[2026-11-11 23:42:13.756] [info] Accepted new action goal ×2 + 3.59sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1794440535.76206732 seconds ×3 | ||||
| − skipped | ML Find Bottles on Table from Image Exemplar | ml_find_bottles_on_table_from_image_exemplar.xml | 0.0s | 83 info |
+ 0.00sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1794440535.76206732 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 + 1.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 1.02sINFOcontroller_managerSuccessfully switched controllers! ×2 + 1.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 1.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 1.06sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 1.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 1.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 1.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 1.07sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 1.07sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 1.59sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 1.59sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 1.59sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 1.59sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 1.59sINFOobjective_server_nodeparameter_overrides: [] ×2 + 1.59sINFOobjective_server_nodecaller: ×2 + 1.59sINFOobjective_server_nodetype: 0 ×2 + 1.59sINFOobjective_server_nodename: "" ×2 + 1.59sINFOobjective_server_nodeinstance_id: "" ×2 + 1.59sINFOobjective_server_nodenode_substitutions: [] ×2 + 1.59sINFOobjective_server_node ×2 + 1.67sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1794440537.43195319 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.67sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.67sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.75sINFOobjective_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 + 1.76sINFOobjective_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 + 2.04sINFOobjective_server_nodeFound path in 0 iterations (3.88e-07 s). ×2 + 2.04sINFOobjective_server_nodePath shortcutter: [X_____________X] ×4 + 2.07sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 2.09sINFOros2_control_node[2026-11-11 23:42:17.849] [info] Received new action goal ×2 + 2.09sINFOros2_control_node[2026-11-11 23:42:17.849] [info] Accepted new action goal ×2 + 4.94sINFOobjective_server_nodeFound path in 0 iterations (2.87e-07 s). ×2 + 4.95sINFOros2_control_node[2026-11-11 23:42:20.716] [info] Received new action goal ×2 + 4.95sINFOros2_control_node[2026-11-11 23:42:20.716] [info] Accepted new action goal ×2 | ||||
| − skipped | ML Segment Bottles from File | ml_segment_bottles_from_file.xml | 0.0s | 83 info |
+ 0.00sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1794440535.76206732 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 + 1.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 1.02sINFOcontroller_managerSuccessfully switched controllers! ×2 + 1.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 1.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 1.06sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 1.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 1.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 1.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 1.07sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 1.07sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 1.59sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 1.59sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 1.59sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 1.59sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 1.59sINFOobjective_server_nodeparameter_overrides: [] ×2 + 1.59sINFOobjective_server_nodecaller: ×2 + 1.59sINFOobjective_server_nodetype: 0 ×2 + 1.59sINFOobjective_server_nodename: "" ×2 + 1.59sINFOobjective_server_nodeinstance_id: "" ×2 + 1.59sINFOobjective_server_nodenode_substitutions: [] ×2 + 1.59sINFOobjective_server_node ×2 + 1.67sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1794440537.43195319 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.67sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.67sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.75sINFOobjective_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 + 1.76sINFOobjective_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 + 2.04sINFOobjective_server_nodeFound path in 0 iterations (3.88e-07 s). ×2 + 2.04sINFOobjective_server_nodePath shortcutter: [X_____________X] ×4 + 2.07sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 2.09sINFOros2_control_node[2026-11-11 23:42:17.849] [info] Received new action goal ×2 + 2.09sINFOros2_control_node[2026-11-11 23:42:17.849] [info] Accepted new action goal ×2 + 4.94sINFOobjective_server_nodeFound path in 0 iterations (2.87e-07 s). ×2 + 4.95sINFOros2_control_node[2026-11-11 23:42:20.716] [info] Received new action goal ×2 + 4.95sINFOros2_control_node[2026-11-11 23:42:20.716] [info] Accepted new action goal ×2 | ||||
| − skipped | ML Segment Image | ml_segment_image.xml | 0.0s | 83 info |
+ 0.00sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1794440535.76206732 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 + 1.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 1.02sINFOcontroller_managerSuccessfully switched controllers! ×2 + 1.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 1.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 1.06sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 1.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 1.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 1.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 1.07sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 1.07sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 1.59sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 1.59sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 1.59sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 1.59sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 1.59sINFOobjective_server_nodeparameter_overrides: [] ×2 + 1.59sINFOobjective_server_nodecaller: ×2 + 1.59sINFOobjective_server_nodetype: 0 ×2 + 1.59sINFOobjective_server_nodename: "" ×2 + 1.59sINFOobjective_server_nodeinstance_id: "" ×2 + 1.59sINFOobjective_server_nodenode_substitutions: [] ×2 + 1.59sINFOobjective_server_node ×2 + 1.67sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1794440537.43195319 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.67sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.67sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.75sINFOobjective_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 + 1.76sINFOobjective_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 + 2.04sINFOobjective_server_nodeFound path in 0 iterations (3.88e-07 s). ×2 + 2.04sINFOobjective_server_nodePath shortcutter: [X_____________X] ×4 + 2.07sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 2.09sINFOros2_control_node[2026-11-11 23:42:17.849] [info] Received new action goal ×2 + 2.09sINFOros2_control_node[2026-11-11 23:42:17.849] [info] Accepted new action goal ×2 + 4.94sINFOobjective_server_nodeFound path in 0 iterations (2.87e-07 s). ×2 + 4.95sINFOros2_control_node[2026-11-11 23:42:20.716] [info] Received new action goal ×2 + 4.95sINFOros2_control_node[2026-11-11 23:42:20.716] [info] Accepted new action goal ×2 | ||||
| − skipped | ML Segment Image Loop | ml_segment_image_loop.xml | 0.0s | 83 info |
+ 0.00sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1794440535.76206732 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 + 1.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 1.02sINFOcontroller_managerSuccessfully switched controllers! ×2 + 1.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 1.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 1.06sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 1.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 1.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 1.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 1.07sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 1.07sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 1.59sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 1.59sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 1.59sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 1.59sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 1.59sINFOobjective_server_nodeparameter_overrides: [] ×2 + 1.59sINFOobjective_server_nodecaller: ×2 + 1.59sINFOobjective_server_nodetype: 0 ×2 + 1.59sINFOobjective_server_nodename: "" ×2 + 1.59sINFOobjective_server_nodeinstance_id: "" ×2 + 1.59sINFOobjective_server_nodenode_substitutions: [] ×2 + 1.59sINFOobjective_server_node ×2 + 1.67sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1794440537.43195319 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.67sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.67sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.75sINFOobjective_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 + 1.76sINFOobjective_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 + 2.04sINFOobjective_server_nodeFound path in 0 iterations (3.88e-07 s). ×2 + 2.04sINFOobjective_server_nodePath shortcutter: [X_____________X] ×4 + 2.07sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 2.09sINFOros2_control_node[2026-11-11 23:42:17.849] [info] Received new action goal ×2 + 2.09sINFOros2_control_node[2026-11-11 23:42:17.849] [info] Accepted new action goal ×2 + 4.94sINFOobjective_server_nodeFound path in 0 iterations (2.87e-07 s). ×2 + 4.95sINFOros2_control_node[2026-11-11 23:42:20.716] [info] Received new action goal ×2 + 4.95sINFOros2_control_node[2026-11-11 23:42:20.716] [info] Accepted new action goal ×2 | ||||
| − skipped | ML Segment Point Cloud | ml_segment_point_cloud.xml | 0.0s | 83 info |
+ 0.00sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1794440535.76206732 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 + 1.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 1.02sINFOcontroller_managerSuccessfully switched controllers! ×2 + 1.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 1.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 1.06sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 1.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 1.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 1.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 1.07sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 1.07sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 1.59sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 1.59sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 1.59sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 1.59sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 1.59sINFOobjective_server_nodeparameter_overrides: [] ×2 + 1.59sINFOobjective_server_nodecaller: ×2 + 1.59sINFOobjective_server_nodetype: 0 ×2 + 1.59sINFOobjective_server_nodename: "" ×2 + 1.59sINFOobjective_server_nodeinstance_id: "" ×2 + 1.59sINFOobjective_server_nodenode_substitutions: [] ×2 + 1.59sINFOobjective_server_node ×2 + 1.67sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1794440537.43195319 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.67sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.67sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.75sINFOobjective_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 + 1.76sINFOobjective_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 + 2.04sINFOobjective_server_nodeFound path in 0 iterations (3.88e-07 s). ×2 + 2.04sINFOobjective_server_nodePath shortcutter: [X_____________X] ×4 + 2.07sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 2.09sINFOros2_control_node[2026-11-11 23:42:17.849] [info] Received new action goal ×2 + 2.09sINFOros2_control_node[2026-11-11 23:42:17.849] [info] Accepted new action goal ×2 + 4.94sINFOobjective_server_nodeFound path in 0 iterations (2.87e-07 s). ×2 + 4.95sINFOros2_control_node[2026-11-11 23:42:20.716] [info] Received new action goal ×2 + 4.95sINFOros2_control_node[2026-11-11 23:42:20.716] [info] Accepted new action goal ×2 | ||||
| − skipped | ML Segment Point Cloud from Clicked Point | ml_segment_point_cloud_from_clicked_point.xml | 0.0s | 83 info |
+ 0.00sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1794440535.76206732 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 + 1.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 1.02sINFOcontroller_managerSuccessfully switched controllers! ×2 + 1.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 1.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 1.06sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 1.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 1.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 1.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 1.07sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 1.07sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 1.59sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 1.59sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 1.59sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 1.59sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 1.59sINFOobjective_server_nodeparameter_overrides: [] ×2 + 1.59sINFOobjective_server_nodecaller: ×2 + 1.59sINFOobjective_server_nodetype: 0 ×2 + 1.59sINFOobjective_server_nodename: "" ×2 + 1.59sINFOobjective_server_nodeinstance_id: "" ×2 + 1.59sINFOobjective_server_nodenode_substitutions: [] ×2 + 1.59sINFOobjective_server_node ×2 + 1.67sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1794440537.43195319 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.67sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.67sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.75sINFOobjective_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 + 1.76sINFOobjective_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 + 2.04sINFOobjective_server_nodeFound path in 0 iterations (3.88e-07 s). ×2 + 2.04sINFOobjective_server_nodePath shortcutter: [X_____________X] ×4 + 2.07sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 2.09sINFOros2_control_node[2026-11-11 23:42:17.849] [info] Received new action goal ×2 + 2.09sINFOros2_control_node[2026-11-11 23:42:17.849] [info] Accepted new action goal ×2 + 4.94sINFOobjective_server_nodeFound path in 0 iterations (2.87e-07 s). ×2 + 4.95sINFOros2_control_node[2026-11-11 23:42:20.716] [info] Received new action goal ×2 + 4.95sINFOros2_control_node[2026-11-11 23:42:20.716] [info] Accepted new action goal ×2 | ||||
| − skipped | Move Along Square | move_along_square.xml | 0.0s | 83 info |
+ 0.00sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1794440535.76206732 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 + 1.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 1.02sINFOcontroller_managerSuccessfully switched controllers! ×2 + 1.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 1.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 1.06sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 1.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 1.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 1.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 1.07sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 1.07sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 1.59sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 1.59sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 1.59sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 1.59sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 1.59sINFOobjective_server_nodeparameter_overrides: [] ×2 + 1.59sINFOobjective_server_nodecaller: ×2 + 1.59sINFOobjective_server_nodetype: 0 ×2 + 1.59sINFOobjective_server_nodename: "" ×2 + 1.59sINFOobjective_server_nodeinstance_id: "" ×2 + 1.59sINFOobjective_server_nodenode_substitutions: [] ×2 + 1.59sINFOobjective_server_node ×2 + 1.67sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1794440537.43195319 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.67sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.67sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.75sINFOobjective_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 + 1.76sINFOobjective_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 + 2.04sINFOobjective_server_nodeFound path in 0 iterations (3.88e-07 s). ×2 + 2.04sINFOobjective_server_nodePath shortcutter: [X_____________X] ×4 + 2.07sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 2.09sINFOros2_control_node[2026-11-11 23:42:17.849] [info] Received new action goal ×2 + 2.09sINFOros2_control_node[2026-11-11 23:42:17.849] [info] Accepted new action goal ×2 + 4.94sINFOobjective_server_nodeFound path in 0 iterations (2.87e-07 s). ×2 + 4.95sINFOros2_control_node[2026-11-11 23:42:20.716] [info] Received new action goal ×2 + 4.95sINFOros2_control_node[2026-11-11 23:42:20.716] [info] Accepted new action goal ×2 | ||||
| − skipped | MPC Pose Tracking | mpc_pose_tracking.xml | 0.0s | 3 warnings · 884 info |
+ 0.00sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1794440591.19813538 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 + 0.01sINFOros2_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: ""
node_substitutions: []
+ 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_nodenode_substitutions: [] ×2 + 0.54sINFOobjective_server_node ×2 + 0.61sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1794440591.81006432 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.68sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 0.80sINFOobjective_server_nodeFound path in 0 iterations (4.52e-07 s). ×2 + 0.80sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 0.81sINFOros2_control_node[2026-11-11 23:43:12.004] [info] Received new action goal ×2 + 0.81sINFOros2_control_node[2026-11-11 23:43:12.004] [info] Accepted new action goal ×2 + 2.07sINFOobjective_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 + 2.08sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 2.15sINFOobjective_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 + 2.15sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 2.15sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] + 2.15sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 2.15sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 2.15sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] + 2.15sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 2.15sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 2.15sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.699366 ms (missed cycles : 2). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.699366 ms (missed cycles : 2).[0m ×2 + 2.86sINFOjoint_trajectory_controllerReceived new action goal ×133 + 2.86sINFOjoint_trajectory_controllerAccepted new action goal ×133 + 2.86sINFOros2_control_nodeReceived new action goal[0m ×266 + 2.86sINFOros2_control_nodeAccepted new action goal[0m ×266 | ||||
| − skipped | MPC Pose Tracking With Point Cloud Avoidance | mpc_pose_tracking_with_point_cloud_avoidance.xml | 0.0s | 9 warnings · 2028 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×323 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×323 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×646 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×646 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719226 ms (missed cycles : 2). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719226 ms (missed cycles : 2).[0m ×2 + 2.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.467682 ms (missed cycles : 2). + 2.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.467682 ms (missed cycles : 2).[0m ×2 + 2.97sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1794440643.84554744 seconds ×3 + 2.98sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 2.98sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 2.98sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 2.98sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.07sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.07sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.08sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.09sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.09sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.09sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.09sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.61sINFOobjective_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: ""
node_substitutions: []
+ 3.61sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.61sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.61sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.61sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.61sINFOobjective_server_nodecaller: ×2 + 3.61sINFOobjective_server_nodetype: 0 ×2 + 3.61sINFOobjective_server_nodename: "" ×2 + 3.61sINFOobjective_server_nodeinstance_id: "" ×2 + 3.61sINFOobjective_server_nodenode_substitutions: [] ×2 + 3.61sINFOobjective_server_node ×2 + 3.71sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1794440644.58544230 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.72sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.80sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.81sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.81sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.81sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.81sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.81sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.81sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.81sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.93sINFOobjective_server_nodeFound path in 0 iterations (4.97e-07 s). ×2 + 3.94sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.95sINFOros2_control_node[2026-11-11 23:44:04.820] [info] Received new action goal ×2 + 3.95sINFOros2_control_node[2026-11-11 23:44:04.820] [info] Accepted new action goal ×2 + 6.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.604576 ms (missed cycles : 2). + 6.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.604576 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Octomap Example | octomap_example.xml | 0.0s | 9 warnings · 2028 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×323 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×323 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×646 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×646 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719226 ms (missed cycles : 2). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719226 ms (missed cycles : 2).[0m ×2 + 2.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.467682 ms (missed cycles : 2). + 2.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.467682 ms (missed cycles : 2).[0m ×2 + 2.97sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1794440643.84554744 seconds ×3 + 2.98sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 2.98sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 2.98sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 2.98sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.07sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.07sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.08sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.09sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.09sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.09sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.09sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.61sINFOobjective_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: ""
node_substitutions: []
+ 3.61sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.61sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.61sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.61sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.61sINFOobjective_server_nodecaller: ×2 + 3.61sINFOobjective_server_nodetype: 0 ×2 + 3.61sINFOobjective_server_nodename: "" ×2 + 3.61sINFOobjective_server_nodeinstance_id: "" ×2 + 3.61sINFOobjective_server_nodenode_substitutions: [] ×2 + 3.61sINFOobjective_server_node ×2 + 3.71sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1794440644.58544230 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.72sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.80sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.81sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.81sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.81sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.81sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.81sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.81sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.81sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.93sINFOobjective_server_nodeFound path in 0 iterations (4.97e-07 s). ×2 + 3.94sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.95sINFOros2_control_node[2026-11-11 23:44:04.820] [info] Received new action goal ×2 + 3.95sINFOros2_control_node[2026-11-11 23:44:04.820] [info] Accepted new action goal ×2 + 6.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.604576 ms (missed cycles : 2). + 6.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.604576 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Pick 1 Pill Bottle with SAM3 | pick_1_pill_bottle_with_sam3.xml | 0.0s | 9 warnings · 2028 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×323 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×323 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×646 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×646 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719226 ms (missed cycles : 2). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719226 ms (missed cycles : 2).[0m ×2 + 2.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.467682 ms (missed cycles : 2). + 2.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.467682 ms (missed cycles : 2).[0m ×2 + 2.97sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1794440643.84554744 seconds ×3 + 2.98sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 2.98sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 2.98sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 2.98sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.07sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.07sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.08sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.09sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.09sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.09sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.09sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.61sINFOobjective_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: ""
node_substitutions: []
+ 3.61sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.61sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.61sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.61sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.61sINFOobjective_server_nodecaller: ×2 + 3.61sINFOobjective_server_nodetype: 0 ×2 + 3.61sINFOobjective_server_nodename: "" ×2 + 3.61sINFOobjective_server_nodeinstance_id: "" ×2 + 3.61sINFOobjective_server_nodenode_substitutions: [] ×2 + 3.61sINFOobjective_server_node ×2 + 3.71sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1794440644.58544230 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.72sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.80sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.81sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.81sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.81sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.81sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.81sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.81sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.81sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.93sINFOobjective_server_nodeFound path in 0 iterations (4.97e-07 s). ×2 + 3.94sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.95sINFOros2_control_node[2026-11-11 23:44:04.820] [info] Received new action goal ×2 + 3.95sINFOros2_control_node[2026-11-11 23:44:04.820] [info] Accepted new action goal ×2 + 6.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.604576 ms (missed cycles : 2). + 6.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.604576 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Pick All Bottles with AprilTags | pick_all_bottles_with_apriltags.xml | 0.0s | 9 warnings · 2028 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×323 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×323 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×646 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×646 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719226 ms (missed cycles : 2). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719226 ms (missed cycles : 2).[0m ×2 + 2.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.467682 ms (missed cycles : 2). + 2.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.467682 ms (missed cycles : 2).[0m ×2 + 2.97sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1794440643.84554744 seconds ×3 + 2.98sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 2.98sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 2.98sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 2.98sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.07sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.07sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.08sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.09sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.09sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.09sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.09sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.61sINFOobjective_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: ""
node_substitutions: []
+ 3.61sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.61sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.61sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.61sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.61sINFOobjective_server_nodecaller: ×2 + 3.61sINFOobjective_server_nodetype: 0 ×2 + 3.61sINFOobjective_server_nodename: "" ×2 + 3.61sINFOobjective_server_nodeinstance_id: "" ×2 + 3.61sINFOobjective_server_nodenode_substitutions: [] ×2 + 3.61sINFOobjective_server_node ×2 + 3.71sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1794440644.58544230 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.72sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.80sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.81sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.81sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.81sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.81sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.81sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.81sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.81sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.93sINFOobjective_server_nodeFound path in 0 iterations (4.97e-07 s). ×2 + 3.94sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.95sINFOros2_control_node[2026-11-11 23:44:04.820] [info] Received new action goal ×2 + 3.95sINFOros2_control_node[2026-11-11 23:44:04.820] [info] Accepted new action goal ×2 + 6.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.604576 ms (missed cycles : 2). + 6.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.604576 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Pick All Pill Bottles | pick_all_pill_bottles.xml | 0.0s | 9 warnings · 2028 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×323 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×323 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×646 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×646 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719226 ms (missed cycles : 2). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719226 ms (missed cycles : 2).[0m ×2 + 2.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.467682 ms (missed cycles : 2). + 2.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.467682 ms (missed cycles : 2).[0m ×2 + 2.97sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1794440643.84554744 seconds ×3 + 2.98sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 2.98sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 2.98sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 2.98sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.07sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.07sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.08sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.09sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.09sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.09sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.09sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.61sINFOobjective_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: ""
node_substitutions: []
+ 3.61sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.61sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.61sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.61sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.61sINFOobjective_server_nodecaller: ×2 + 3.61sINFOobjective_server_nodetype: 0 ×2 + 3.61sINFOobjective_server_nodename: "" ×2 + 3.61sINFOobjective_server_nodeinstance_id: "" ×2 + 3.61sINFOobjective_server_nodenode_substitutions: [] ×2 + 3.61sINFOobjective_server_node ×2 + 3.71sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1794440644.58544230 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.72sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.80sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.81sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.81sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.81sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.81sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.81sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.81sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.81sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.93sINFOobjective_server_nodeFound path in 0 iterations (4.97e-07 s). ×2 + 3.94sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.95sINFOros2_control_node[2026-11-11 23:44:04.820] [info] Received new action goal ×2 + 3.95sINFOros2_control_node[2026-11-11 23:44:04.820] [info] Accepted new action goal ×2 + 6.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.604576 ms (missed cycles : 2). + 6.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.604576 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Pick from AprilTag Detections | pick_from_apriltag_detections.xml | 0.0s | 3 errors · 84 info |
+ 0.00sINFOros2_control_node[2026-11-11 23:44:11.779] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-11-11 23:44:11.779] [info] Accepted new action goal ×2 + 1.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.63sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.64sINFOros2_control_node[2026-11-11 23:44:13.422] [info] Received new action goal ×2 + 1.64sINFOros2_control_node[2026-11-11 23:44:13.422] [info] Accepted new action goal ×2 + 2.89sINFOobjective_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 + 2.90sINFOros2_control_node[2026-11-11 23:44:14.678] [info] Got request to cancel active goal. ×2 + 2.90sINFOros2_control_node[2026-11-11 23:44:14.678] [info] Canceling active goal... ×2 + 2.90sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1794440654.68363118 seconds ×3 + 2.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.94sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.96sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.96sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 3.48sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.48sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.48sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.48sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.48sINFOobjective_server_nodecaller: ×2 + 3.48sINFOobjective_server_nodetype: 0 ×2 + 3.48sINFOobjective_server_nodename: "" ×2 + 3.48sINFOobjective_server_nodeinstance_id: "" ×2 + 3.48sINFOobjective_server_nodenode_substitutions: [] ×2 + 3.48sINFOobjective_server_node ×2 + 3.58sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1794440655.36258626 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.66sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.75sINFOobjective_server_nodeFound path in 0 iterations (4.53e-07 s). ×2 + 3.75sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.76sINFOros2_control_node[2026-11-11 23:44:15.537] [info] Received new action goal ×2 + 3.76sINFOros2_control_node[2026-11-11 23:44:15.537] [info] Accepted new action goal ×2 + 5.67sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − skipped | Pick from Pose | pick_from_pose.xml | 0.0s | 3 errors · 84 info |
+ 0.00sINFOros2_control_node[2026-11-11 23:44:11.779] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-11-11 23:44:11.779] [info] Accepted new action goal ×2 + 1.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.63sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.64sINFOros2_control_node[2026-11-11 23:44:13.422] [info] Received new action goal ×2 + 1.64sINFOros2_control_node[2026-11-11 23:44:13.422] [info] Accepted new action goal ×2 + 2.89sINFOobjective_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 + 2.90sINFOros2_control_node[2026-11-11 23:44:14.678] [info] Got request to cancel active goal. ×2 + 2.90sINFOros2_control_node[2026-11-11 23:44:14.678] [info] Canceling active goal... ×2 + 2.90sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1794440654.68363118 seconds ×3 + 2.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.94sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.96sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.96sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 3.48sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.48sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.48sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.48sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.48sINFOobjective_server_nodecaller: ×2 + 3.48sINFOobjective_server_nodetype: 0 ×2 + 3.48sINFOobjective_server_nodename: "" ×2 + 3.48sINFOobjective_server_nodeinstance_id: "" ×2 + 3.48sINFOobjective_server_nodenode_substitutions: [] ×2 + 3.48sINFOobjective_server_node ×2 + 3.58sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1794440655.36258626 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.66sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.75sINFOobjective_server_nodeFound path in 0 iterations (4.53e-07 s). ×2 + 3.75sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.76sINFOros2_control_node[2026-11-11 23:44:15.537] [info] Received new action goal ×2 + 3.76sINFOros2_control_node[2026-11-11 23:44:15.537] [info] Accepted new action goal ×2 + 5.67sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − skipped | Pick from Pose Vector | pick_from_pose_vector.xml | 0.0s | 3 errors · 84 info |
+ 0.00sINFOros2_control_node[2026-11-11 23:44:11.779] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-11-11 23:44:11.779] [info] Accepted new action goal ×2 + 1.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.63sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.64sINFOros2_control_node[2026-11-11 23:44:13.422] [info] Received new action goal ×2 + 1.64sINFOros2_control_node[2026-11-11 23:44:13.422] [info] Accepted new action goal ×2 + 2.89sINFOobjective_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 + 2.90sINFOros2_control_node[2026-11-11 23:44:14.678] [info] Got request to cancel active goal. ×2 + 2.90sINFOros2_control_node[2026-11-11 23:44:14.678] [info] Canceling active goal... ×2 + 2.90sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1794440654.68363118 seconds ×3 + 2.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.94sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.96sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.96sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 3.48sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.48sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.48sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.48sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.48sINFOobjective_server_nodecaller: ×2 + 3.48sINFOobjective_server_nodetype: 0 ×2 + 3.48sINFOobjective_server_nodename: "" ×2 + 3.48sINFOobjective_server_nodeinstance_id: "" ×2 + 3.48sINFOobjective_server_nodenode_substitutions: [] ×2 + 3.48sINFOobjective_server_node ×2 + 3.58sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1794440655.36258626 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.66sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.75sINFOobjective_server_nodeFound path in 0 iterations (4.53e-07 s). ×2 + 3.75sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.76sINFOros2_control_node[2026-11-11 23:44:15.537] [info] Received new action goal ×2 + 3.76sINFOros2_control_node[2026-11-11 23:44:15.537] [info] Accepted new action goal ×2 + 5.67sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − skipped | Pick from Pose With Approval | pick_from_pose_with_approval.xml | 0.0s | 3 errors · 84 info |
+ 0.00sINFOros2_control_node[2026-11-11 23:44:11.779] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-11-11 23:44:11.779] [info] Accepted new action goal ×2 + 1.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.63sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.64sINFOros2_control_node[2026-11-11 23:44:13.422] [info] Received new action goal ×2 + 1.64sINFOros2_control_node[2026-11-11 23:44:13.422] [info] Accepted new action goal ×2 + 2.89sINFOobjective_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 + 2.90sINFOros2_control_node[2026-11-11 23:44:14.678] [info] Got request to cancel active goal. ×2 + 2.90sINFOros2_control_node[2026-11-11 23:44:14.678] [info] Canceling active goal... ×2 + 2.90sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1794440654.68363118 seconds ×3 + 2.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.94sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.96sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.96sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 3.48sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.48sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.48sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.48sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.48sINFOobjective_server_nodecaller: ×2 + 3.48sINFOobjective_server_nodetype: 0 ×2 + 3.48sINFOobjective_server_nodename: "" ×2 + 3.48sINFOobjective_server_nodeinstance_id: "" ×2 + 3.48sINFOobjective_server_nodenode_substitutions: [] ×2 + 3.48sINFOobjective_server_node ×2 + 3.58sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1794440655.36258626 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.66sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.75sINFOobjective_server_nodeFound path in 0 iterations (4.53e-07 s). ×2 + 3.75sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.76sINFOros2_control_node[2026-11-11 23:44:15.537] [info] Received new action goal ×2 + 3.76sINFOros2_control_node[2026-11-11 23:44:15.537] [info] Accepted new action goal ×2 + 5.67sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − skipped | Pick up Object | pick_up_cube.xml | 0.0s | 3 errors · 84 info |
+ 0.00sINFOros2_control_node[2026-11-11 23:44:11.779] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-11-11 23:44:11.779] [info] Accepted new action goal ×2 + 1.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.63sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.64sINFOros2_control_node[2026-11-11 23:44:13.422] [info] Received new action goal ×2 + 1.64sINFOros2_control_node[2026-11-11 23:44:13.422] [info] Accepted new action goal ×2 + 2.89sINFOobjective_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 + 2.90sINFOros2_control_node[2026-11-11 23:44:14.678] [info] Got request to cancel active goal. ×2 + 2.90sINFOros2_control_node[2026-11-11 23:44:14.678] [info] Canceling active goal... ×2 + 2.90sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1794440654.68363118 seconds ×3 + 2.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.94sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.96sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.96sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 3.48sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.48sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.48sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.48sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.48sINFOobjective_server_nodecaller: ×2 + 3.48sINFOobjective_server_nodetype: 0 ×2 + 3.48sINFOobjective_server_nodename: "" ×2 + 3.48sINFOobjective_server_nodeinstance_id: "" ×2 + 3.48sINFOobjective_server_nodenode_substitutions: [] ×2 + 3.48sINFOobjective_server_node ×2 + 3.58sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1794440655.36258626 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.66sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.75sINFOobjective_server_nodeFound path in 0 iterations (4.53e-07 s). ×2 + 3.75sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.76sINFOros2_control_node[2026-11-11 23:44:15.537] [info] Received new action goal ×2 + 3.76sINFOros2_control_node[2026-11-11 23:44:15.537] [info] Accepted new action goal ×2 + 5.67sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − skipped | Place at Pose | place_at_pose.xml | 0.0s | 3 errors · 84 info |
+ 0.00sINFOros2_control_node[2026-11-11 23:44:11.779] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-11-11 23:44:11.779] [info] Accepted new action goal ×2 + 1.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.63sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.64sINFOros2_control_node[2026-11-11 23:44:13.422] [info] Received new action goal ×2 + 1.64sINFOros2_control_node[2026-11-11 23:44:13.422] [info] Accepted new action goal ×2 + 2.89sINFOobjective_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 + 2.90sINFOros2_control_node[2026-11-11 23:44:14.678] [info] Got request to cancel active goal. ×2 + 2.90sINFOros2_control_node[2026-11-11 23:44:14.678] [info] Canceling active goal... ×2 + 2.90sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1794440654.68363118 seconds ×3 + 2.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.94sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.96sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.96sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 3.48sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.48sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.48sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.48sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.48sINFOobjective_server_nodecaller: ×2 + 3.48sINFOobjective_server_nodetype: 0 ×2 + 3.48sINFOobjective_server_nodename: "" ×2 + 3.48sINFOobjective_server_nodeinstance_id: "" ×2 + 3.48sINFOobjective_server_nodenode_substitutions: [] ×2 + 3.48sINFOobjective_server_node ×2 + 3.58sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1794440655.36258626 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.66sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.75sINFOobjective_server_nodeFound path in 0 iterations (4.53e-07 s). ×2 + 3.75sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.76sINFOros2_control_node[2026-11-11 23:44:15.537] [info] Received new action goal ×2 + 3.76sINFOros2_control_node[2026-11-11 23:44:15.537] [info] Accepted new action goal ×2 + 5.67sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − skipped | Place at Pose Vector | place_at_pose_vector.xml | 0.0s | 3 errors · 84 info |
+ 0.00sINFOros2_control_node[2026-11-11 23:44:11.779] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-11-11 23:44:11.779] [info] Accepted new action goal ×2 + 1.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.63sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.64sINFOros2_control_node[2026-11-11 23:44:13.422] [info] Received new action goal ×2 + 1.64sINFOros2_control_node[2026-11-11 23:44:13.422] [info] Accepted new action goal ×2 + 2.89sINFOobjective_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 + 2.90sINFOros2_control_node[2026-11-11 23:44:14.678] [info] Got request to cancel active goal. ×2 + 2.90sINFOros2_control_node[2026-11-11 23:44:14.678] [info] Canceling active goal... ×2 + 2.90sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1794440654.68363118 seconds ×3 + 2.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.94sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.96sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.96sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 3.48sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.48sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.48sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.48sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.48sINFOobjective_server_nodecaller: ×2 + 3.48sINFOobjective_server_nodetype: 0 ×2 + 3.48sINFOobjective_server_nodename: "" ×2 + 3.48sINFOobjective_server_nodeinstance_id: "" ×2 + 3.48sINFOobjective_server_nodenode_substitutions: [] ×2 + 3.48sINFOobjective_server_node ×2 + 3.58sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1794440655.36258626 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.66sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.75sINFOobjective_server_nodeFound path in 0 iterations (4.53e-07 s). ×2 + 3.75sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.76sINFOros2_control_node[2026-11-11 23:44:15.537] [info] Received new action goal ×2 + 3.76sINFOros2_control_node[2026-11-11 23:44:15.537] [info] Accepted new action goal ×2 + 5.67sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − skipped | Place at Pose with Approval | place_at_pose_with_approval.xml | 0.0s | 3 errors · 84 info |
+ 0.00sINFOros2_control_node[2026-11-11 23:44:11.779] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-11-11 23:44:11.779] [info] Accepted new action goal ×2 + 1.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.63sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.64sINFOros2_control_node[2026-11-11 23:44:13.422] [info] Received new action goal ×2 + 1.64sINFOros2_control_node[2026-11-11 23:44:13.422] [info] Accepted new action goal ×2 + 2.89sINFOobjective_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 + 2.90sINFOros2_control_node[2026-11-11 23:44:14.678] [info] Got request to cancel active goal. ×2 + 2.90sINFOros2_control_node[2026-11-11 23:44:14.678] [info] Canceling active goal... ×2 + 2.90sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1794440654.68363118 seconds ×3 + 2.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.94sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.96sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.96sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 3.48sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.48sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.48sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.48sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.48sINFOobjective_server_nodecaller: ×2 + 3.48sINFOobjective_server_nodetype: 0 ×2 + 3.48sINFOobjective_server_nodename: "" ×2 + 3.48sINFOobjective_server_nodeinstance_id: "" ×2 + 3.48sINFOobjective_server_nodenode_substitutions: [] ×2 + 3.48sINFOobjective_server_node ×2 + 3.58sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1794440655.36258626 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.66sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.75sINFOobjective_server_nodeFound path in 0 iterations (4.53e-07 s). ×2 + 3.75sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.76sINFOros2_control_node[2026-11-11 23:44:15.537] [info] Received new action goal ×2 + 3.76sINFOros2_control_node[2026-11-11 23:44:15.537] [info] Accepted new action goal ×2 + 5.67sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − skipped | Place Object | place_object.xml | 0.0s | 3 errors · 84 info |
+ 0.00sINFOros2_control_node[2026-11-11 23:44:11.779] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-11-11 23:44:11.779] [info] Accepted new action goal ×2 + 1.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.63sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.64sINFOros2_control_node[2026-11-11 23:44:13.422] [info] Received new action goal ×2 + 1.64sINFOros2_control_node[2026-11-11 23:44:13.422] [info] Accepted new action goal ×2 + 2.89sINFOobjective_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 + 2.90sINFOros2_control_node[2026-11-11 23:44:14.678] [info] Got request to cancel active goal. ×2 + 2.90sINFOros2_control_node[2026-11-11 23:44:14.678] [info] Canceling active goal... ×2 + 2.90sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1794440654.68363118 seconds ×3 + 2.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.94sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.96sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.96sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 3.48sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.48sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.48sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.48sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.48sINFOobjective_server_nodecaller: ×2 + 3.48sINFOobjective_server_nodetype: 0 ×2 + 3.48sINFOobjective_server_nodename: "" ×2 + 3.48sINFOobjective_server_nodeinstance_id: "" ×2 + 3.48sINFOobjective_server_nodenode_substitutions: [] ×2 + 3.48sINFOobjective_server_node ×2 + 3.58sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1794440655.36258626 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.66sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.75sINFOobjective_server_nodeFound path in 0 iterations (4.53e-07 s). ×2 + 3.75sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.76sINFOros2_control_node[2026-11-11 23:44:15.537] [info] Received new action goal ×2 + 3.76sINFOros2_control_node[2026-11-11 23:44:15.537] [info] Accepted new action goal ×2 + 5.67sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − skipped | Plan Move To Pose | plan_move_to_pose.xml | 0.0s | 3 errors · 63 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: 1794440665.68311429 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 + 0.02sINFOcontroller_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: ""
node_substitutions: []
+ 0.57sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 0.58sINFOobjective_server_nodeobjective_name: "Playback Square Trajectory" ×2 + 0.58sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 0.58sINFOobjective_server_nodeparameter_overrides: [] ×2 + 0.58sINFOobjective_server_nodecaller: ×2 + 0.58sINFOobjective_server_nodetype: 0 ×2 + 0.58sINFOobjective_server_nodename: "" ×2 + 0.58sINFOobjective_server_nodeinstance_id: "" ×2 + 0.58sINFOobjective_server_nodenode_substitutions: [] ×2 + 0.58sINFOobjective_server_node ×2 + 0.64sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1794440666.31416249 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.81sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 0.91sINFOobjective_server_nodeFound path in 0 iterations (2.68e-07 s). ×2 + 0.92sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 0.93sINFOros2_control_node[2026-11-11 23:44:26.605] [info] Received new action goal ×2 + 0.93sINFOros2_control_node[2026-11-11 23:44:26.605] [info] Accepted new action goal ×2 | ||||
| − skipped | Push Button With a Trajectory | push_button_with_a_trajectory.xml | 0.0s | 66 info |
+ 0.00sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1794440676.19773269 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 + 0.02sINFOros2_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: "Record and Replay Scanning Motion"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 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_nodenode_substitutions: [] ×2 + 0.54sINFOobjective_server_node ×2 + 0.62sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1794440676.81536007 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.63sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 0.72sINFOobjective_server_nodeFound path in 0 iterations (2.44e-07 s). ×2 + 0.73sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 0.73sINFOros2_control_node[2026-11-11 23:44:36.929] [info] Received new action goal ×2 + 0.73sINFOros2_control_node[2026-11-11 23:44:36.929] [info] Accepted new action goal ×2 + 2.64sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − skipped | Reflect Poses Subtree | reflect_poses_subtree.xml | 0.0s | 3 warnings · 199 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.60sINFOobjective_server_nodeObjective `Record Surface Coverage Demo` succeeded at time: 1794440732.20177722 seconds ×3 + 0.70sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.70sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.70sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 0.70sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.70sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 0.70sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.71sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.71sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.71sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.71sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.72sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.24sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 1.24sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 1.24sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 1.24sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 1.24sINFOobjective_server_nodeparameter_overrides: [] ×6 + 1.24sINFOobjective_server_nodecaller: ×6 + 1.24sINFOobjective_server_nodetype: 0 ×6 + 1.24sINFOobjective_server_nodename: "" ×6 + 1.24sINFOobjective_server_nodeinstance_id: "" ×6 + 1.24sINFOobjective_server_nodenode_substitutions: [] ×6 + 1.24sINFOobjective_server_node ×6 + 1.44sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1794440733.04084778 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.56sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 1.56sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 1.57sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 1.58sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 1.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.338031 ms (missed cycles : 3). + 1.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.338031 ms (missed cycles : 3).[0m ×2 + 1.59sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1794440733.19101715 seconds ×3 + 2.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 2.14sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 2.20sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1794440733.79616904 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.22sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 2.22sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1794440733.81768823 seconds ×3 + 2.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 2.81sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 2.88sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1794440734.47858691 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.89sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 2.99sINFOobjective_server_nodeFound path in 0 iterations (2.56e-07 s). ×2 + 2.99sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 3.00sINFOros2_control_node[2026-11-11 23:45:34.592] [info] Received new action goal ×2 + 3.00sINFOros2_control_node[2026-11-11 23:45:34.592] [info] Accepted new action goal ×2 | ||||
| − skipped | Register CAD Part | register_cad_part.xml | 0.0s | 3 warnings · 199 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.60sINFOobjective_server_nodeObjective `Record Surface Coverage Demo` succeeded at time: 1794440732.20177722 seconds ×3 + 0.70sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.70sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.70sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 0.70sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.70sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 0.70sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.71sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.71sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.71sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.71sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.72sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.24sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 1.24sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 1.24sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 1.24sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 1.24sINFOobjective_server_nodeparameter_overrides: [] ×6 + 1.24sINFOobjective_server_nodecaller: ×6 + 1.24sINFOobjective_server_nodetype: 0 ×6 + 1.24sINFOobjective_server_nodename: "" ×6 + 1.24sINFOobjective_server_nodeinstance_id: "" ×6 + 1.24sINFOobjective_server_nodenode_substitutions: [] ×6 + 1.24sINFOobjective_server_node ×6 + 1.44sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1794440733.04084778 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.56sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 1.56sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 1.57sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 1.58sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 1.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.338031 ms (missed cycles : 3). + 1.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.338031 ms (missed cycles : 3).[0m ×2 + 1.59sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1794440733.19101715 seconds ×3 + 2.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 2.14sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 2.20sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1794440733.79616904 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.22sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 2.22sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1794440733.81768823 seconds ×3 + 2.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 2.81sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 2.88sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1794440734.47858691 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.89sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 2.99sINFOobjective_server_nodeFound path in 0 iterations (2.56e-07 s). ×2 + 2.99sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 3.00sINFOros2_control_node[2026-11-11 23:45:34.592] [info] Received new action goal ×2 + 3.00sINFOros2_control_node[2026-11-11 23:45:34.592] [info] Accepted new action goal ×2 | ||||
| − skipped | Scan Scene - Multiple Point Clouds | scan_scene_-_multiple_point_clouds.xml | 0.0s | 3 warnings · 199 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.60sINFOobjective_server_nodeObjective `Record Surface Coverage Demo` succeeded at time: 1794440732.20177722 seconds ×3 + 0.70sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.70sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.70sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 0.70sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.70sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 0.70sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.71sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.71sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.71sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.71sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.72sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.24sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 1.24sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 1.24sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 1.24sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 1.24sINFOobjective_server_nodeparameter_overrides: [] ×6 + 1.24sINFOobjective_server_nodecaller: ×6 + 1.24sINFOobjective_server_nodetype: 0 ×6 + 1.24sINFOobjective_server_nodename: "" ×6 + 1.24sINFOobjective_server_nodeinstance_id: "" ×6 + 1.24sINFOobjective_server_nodenode_substitutions: [] ×6 + 1.24sINFOobjective_server_node ×6 + 1.44sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1794440733.04084778 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.56sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 1.56sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 1.57sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 1.58sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 1.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.338031 ms (missed cycles : 3). + 1.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.338031 ms (missed cycles : 3).[0m ×2 + 1.59sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1794440733.19101715 seconds ×3 + 2.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 2.14sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 2.20sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1794440733.79616904 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.22sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 2.22sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1794440733.81768823 seconds ×3 + 2.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 2.81sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 2.88sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1794440734.47858691 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.89sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 2.99sINFOobjective_server_nodeFound path in 0 iterations (2.56e-07 s). ×2 + 2.99sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 3.00sINFOros2_control_node[2026-11-11 23:45:34.592] [info] Received new action goal ×2 + 3.00sINFOros2_control_node[2026-11-11 23:45:34.592] [info] Accepted new action goal ×2 | ||||
| − skipped | Segment Bottle Subtree | segment_bottle_subtree.xml | 0.0s | 3 warnings · 199 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.60sINFOobjective_server_nodeObjective `Record Surface Coverage Demo` succeeded at time: 1794440732.20177722 seconds ×3 + 0.70sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.70sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.70sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 0.70sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.70sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 0.70sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.71sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.71sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.71sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.71sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.72sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.24sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 1.24sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 1.24sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 1.24sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 1.24sINFOobjective_server_nodeparameter_overrides: [] ×6 + 1.24sINFOobjective_server_nodecaller: ×6 + 1.24sINFOobjective_server_nodetype: 0 ×6 + 1.24sINFOobjective_server_nodename: "" ×6 + 1.24sINFOobjective_server_nodeinstance_id: "" ×6 + 1.24sINFOobjective_server_nodenode_substitutions: [] ×6 + 1.24sINFOobjective_server_node ×6 + 1.44sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1794440733.04084778 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.56sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 1.56sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 1.57sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 1.58sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 1.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.338031 ms (missed cycles : 3). + 1.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.338031 ms (missed cycles : 3).[0m ×2 + 1.59sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1794440733.19101715 seconds ×3 + 2.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 2.14sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 2.20sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1794440733.79616904 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.22sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 2.22sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1794440733.81768823 seconds ×3 + 2.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 2.81sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 2.88sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1794440734.47858691 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.89sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 2.99sINFOobjective_server_nodeFound path in 0 iterations (2.56e-07 s). ×2 + 2.99sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 3.00sINFOros2_control_node[2026-11-11 23:45:34.592] [info] Received new action goal ×2 + 3.00sINFOros2_control_node[2026-11-11 23:45:34.592] [info] Accepted new action goal ×2 | ||||
| − skipped | Select Region and Record Coverage | select_region_and_record_coverage.xml | 0.0s | 3 warnings · 199 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.60sINFOobjective_server_nodeObjective `Record Surface Coverage Demo` succeeded at time: 1794440732.20177722 seconds ×3 + 0.70sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.70sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.70sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 0.70sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.70sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 0.70sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.71sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.71sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.71sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.71sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.72sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.24sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 1.24sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 1.24sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 1.24sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 1.24sINFOobjective_server_nodeparameter_overrides: [] ×6 + 1.24sINFOobjective_server_nodecaller: ×6 + 1.24sINFOobjective_server_nodetype: 0 ×6 + 1.24sINFOobjective_server_nodename: "" ×6 + 1.24sINFOobjective_server_nodeinstance_id: "" ×6 + 1.24sINFOobjective_server_nodenode_substitutions: [] ×6 + 1.24sINFOobjective_server_node ×6 + 1.44sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1794440733.04084778 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.56sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 1.56sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 1.57sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 1.58sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 1.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.338031 ms (missed cycles : 3). + 1.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.338031 ms (missed cycles : 3).[0m ×2 + 1.59sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1794440733.19101715 seconds ×3 + 2.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 2.14sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 2.20sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1794440733.79616904 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.22sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 2.22sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1794440733.81768823 seconds ×3 + 2.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 2.81sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 2.88sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1794440734.47858691 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.89sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 2.99sINFOobjective_server_nodeFound path in 0 iterations (2.56e-07 s). ×2 + 2.99sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 3.00sINFOros2_control_node[2026-11-11 23:45:34.592] [info] Received new action goal ×2 + 3.00sINFOros2_control_node[2026-11-11 23:45:34.592] [info] Accepted new action goal ×2 | ||||
| − skipped | Select Region for Coverage Path | select_region_for_coverage_path.xml | 0.0s | 3 warnings · 199 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.60sINFOobjective_server_nodeObjective `Record Surface Coverage Demo` succeeded at time: 1794440732.20177722 seconds ×3 + 0.70sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.70sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.70sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 0.70sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.70sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 0.70sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.71sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.71sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.71sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.71sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.72sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.24sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 1.24sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 1.24sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 1.24sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 1.24sINFOobjective_server_nodeparameter_overrides: [] ×6 + 1.24sINFOobjective_server_nodecaller: ×6 + 1.24sINFOobjective_server_nodetype: 0 ×6 + 1.24sINFOobjective_server_nodename: "" ×6 + 1.24sINFOobjective_server_nodeinstance_id: "" ×6 + 1.24sINFOobjective_server_nodenode_substitutions: [] ×6 + 1.24sINFOobjective_server_node ×6 + 1.44sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1794440733.04084778 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.56sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 1.56sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 1.57sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 1.58sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 1.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.338031 ms (missed cycles : 3). + 1.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.338031 ms (missed cycles : 3).[0m ×2 + 1.59sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1794440733.19101715 seconds ×3 + 2.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 2.14sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 2.20sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1794440733.79616904 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.22sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 2.22sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1794440733.81768823 seconds ×3 + 2.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 2.81sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 2.88sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1794440734.47858691 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.89sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 2.99sINFOobjective_server_nodeFound path in 0 iterations (2.56e-07 s). ×2 + 2.99sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 3.00sINFOros2_control_node[2026-11-11 23:45:34.592] [info] Received new action goal ×2 + 3.00sINFOros2_control_node[2026-11-11 23:45:34.592] [info] Accepted new action goal ×2 | ||||
| − skipped | Stitch Multiple Point Clouds Together | stitch_multiple_point_clouds_together.xml | 0.0s | 3 errors · 14 warnings · 218 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 23:45:44.678] [info] Got request to cancel active goal. ×2 + 0.00sINFOros2_control_node[2026-11-11 23:45:44.678] [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: 1794440744.68314171 seconds ×3 + 0.02sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.02sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 0.02sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 0.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.02sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.02sINFOros2_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: ""
node_substitutions: []
+ 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_nodenode_substitutions: [] ×8 + 0.55sINFOobjective_server_node ×8 + 0.62sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1794440745.28956246 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.466307 ms (missed cycles : 4). + 0.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.466307 ms (missed cycles : 4).[0m ×2 + 1.43sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1794440746.09972882 seconds ×3 + 1.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.980583 ms (missed cycles : 2). + 1.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.980583 ms (missed cycles : 2).[0m ×2 + 1.97sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 1.97sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 2.04sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1794440746.71342945 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.04sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 2.04sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×3 + 2.04sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 2.04sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1794440746.71575117 seconds ×3 + 2.07sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.03 s). The render path has stopped producing new frames for them.[0m ×2 + 2.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 2.58sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 2.65sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1794440747.32102966 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.67sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1794440747.34180593 seconds ×3 + 3.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 3.21sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 3.27sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1794440747.94372773 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.275629 ms (missed cycles : 3). + 3.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.275629 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Take Wrist Camera Image | take_picture_with_wrist_camera.xml | 0.0s | 3 errors · 14 warnings · 218 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 23:45:44.678] [info] Got request to cancel active goal. ×2 + 0.00sINFOros2_control_node[2026-11-11 23:45:44.678] [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: 1794440744.68314171 seconds ×3 + 0.02sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.02sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 0.02sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 0.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.02sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.02sINFOros2_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: ""
node_substitutions: []
+ 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_nodenode_substitutions: [] ×8 + 0.55sINFOobjective_server_node ×8 + 0.62sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1794440745.28956246 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.466307 ms (missed cycles : 4). + 0.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.466307 ms (missed cycles : 4).[0m ×2 + 1.43sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1794440746.09972882 seconds ×3 + 1.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.980583 ms (missed cycles : 2). + 1.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.980583 ms (missed cycles : 2).[0m ×2 + 1.97sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 1.97sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 2.04sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1794440746.71342945 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.04sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 2.04sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×3 + 2.04sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 2.04sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1794440746.71575117 seconds ×3 + 2.07sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.03 s). The render path has stopped producing new frames for them.[0m ×2 + 2.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 2.58sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 2.65sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1794440747.32102966 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.67sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1794440747.34180593 seconds ×3 + 3.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 3.21sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 3.27sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1794440747.94372773 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.275629 ms (missed cycles : 3). + 3.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.275629 ms (missed cycles : 3).[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 · 332 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1794440430.43010974 seconds ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.03sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 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: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.04sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.04sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.04sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 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_nodenode_substitutions: [] ×10 + 0.56sINFOobjective_server_node ×10 + 0.62sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1794440431.04746437 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.68sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1794440431.10762691 seconds ×3 + 1.16sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 1.33sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.40sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1794440431.83139277 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.42sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1794440431.85153341 seconds ×3 + 1.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 1.96sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.02sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1794440432.44589996 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1794440432.59641027 seconds ×3 + 2.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 2.80sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1794440433.28790212 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.87sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 2.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.88sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.442176 ms (missed cycles : 3). + 2.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.442176 ms (missed cycles : 3).[0m ×2 + 2.91sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1794440433.33804584 seconds ×3 + 3.44sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 3.44sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.56sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1794440433.99011874 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.57sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.57sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.57sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.57sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.57sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.57sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.57sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.68sINFOobjective_server_nodeFound path in 0 iterations (2.9615e-05 s). ×2 + 3.68sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.70sINFOros2_control_node[2026-11-11 23:40:34.126] [info] Received new action goal ×2 + 3.70sINFOros2_control_node[2026-11-11 23:40:34.126] [info] Accepted new action goal ×2 + 6.09sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.19sINFOobjective_server_nodeFound path in 0 iterations (3.53e-07 s). ×2 + 6.20sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.22sINFOros2_control_node[2026-11-11 23:40:36.645] [info] Received new action goal ×2 + 6.22sINFOros2_control_node[2026-11-11 23:40:36.645] [info] Accepted new action goal ×2 | ||||
| − skipped | — | segment_image_from_no_negative_text_prompt_subtree.xml | 0.0s | 3 warnings · 332 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1794440430.43010974 seconds ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.03sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 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: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.04sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.04sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.04sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 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_nodenode_substitutions: [] ×10 + 0.56sINFOobjective_server_node ×10 + 0.62sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1794440431.04746437 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.68sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1794440431.10762691 seconds ×3 + 1.16sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 1.33sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.40sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1794440431.83139277 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.42sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1794440431.85153341 seconds ×3 + 1.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 1.96sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.02sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1794440432.44589996 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1794440432.59641027 seconds ×3 + 2.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 2.80sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1794440433.28790212 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.87sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 2.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.88sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.442176 ms (missed cycles : 3). + 2.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.442176 ms (missed cycles : 3).[0m ×2 + 2.91sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1794440433.33804584 seconds ×3 + 3.44sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 3.44sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.56sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1794440433.99011874 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.57sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.57sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.57sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.57sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.57sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.57sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.57sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.68sINFOobjective_server_nodeFound path in 0 iterations (2.9615e-05 s). ×2 + 3.68sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.70sINFOros2_control_node[2026-11-11 23:40:34.126] [info] Received new action goal ×2 + 3.70sINFOros2_control_node[2026-11-11 23:40:34.126] [info] Accepted new action goal ×2 + 6.09sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.19sINFOobjective_server_nodeFound path in 0 iterations (3.53e-07 s). ×2 + 6.20sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.22sINFOros2_control_node[2026-11-11 23:40:36.645] [info] Received new action goal ×2 + 6.22sINFOros2_control_node[2026-11-11 23:40:36.645] [info] Accepted new action goal ×2 | ||||
| − skipped | — | segment_image_from_point_subtree.xml | 0.0s | 3 warnings · 332 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1794440430.43010974 seconds ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.03sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 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: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.04sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.04sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.04sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 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_nodenode_substitutions: [] ×10 + 0.56sINFOobjective_server_node ×10 + 0.62sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1794440431.04746437 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.68sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1794440431.10762691 seconds ×3 + 1.16sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 1.33sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.40sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1794440431.83139277 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.42sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1794440431.85153341 seconds ×3 + 1.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 1.96sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.02sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1794440432.44589996 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1794440432.59641027 seconds ×3 + 2.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 2.80sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1794440433.28790212 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.87sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 2.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.88sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.442176 ms (missed cycles : 3). + 2.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.442176 ms (missed cycles : 3).[0m ×2 + 2.91sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1794440433.33804584 seconds ×3 + 3.44sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 3.44sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.56sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1794440433.99011874 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.57sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.57sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.57sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.57sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.57sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.57sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.57sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.68sINFOobjective_server_nodeFound path in 0 iterations (2.9615e-05 s). ×2 + 3.68sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.70sINFOros2_control_node[2026-11-11 23:40:34.126] [info] Received new action goal ×2 + 3.70sINFOros2_control_node[2026-11-11 23:40:34.126] [info] Accepted new action goal ×2 + 6.09sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.19sINFOobjective_server_nodeFound path in 0 iterations (3.53e-07 s). ×2 + 6.20sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.22sINFOros2_control_node[2026-11-11 23:40:36.645] [info] Received new action goal ×2 + 6.22sINFOros2_control_node[2026-11-11 23:40:36.645] [info] Accepted new action goal ×2 | ||||
| − skipped | — | segment_image_from_text_prompt_subtree.xml | 0.0s | 3 warnings · 332 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1794440430.43010974 seconds ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.03sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 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: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.04sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.04sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.04sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 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_nodenode_substitutions: [] ×10 + 0.56sINFOobjective_server_node ×10 + 0.62sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1794440431.04746437 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.68sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1794440431.10762691 seconds ×3 + 1.16sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 1.33sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.40sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1794440431.83139277 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.42sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1794440431.85153341 seconds ×3 + 1.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 1.96sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.02sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1794440432.44589996 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1794440432.59641027 seconds ×3 + 2.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 2.80sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1794440433.28790212 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.87sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 2.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.88sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.442176 ms (missed cycles : 3). + 2.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.442176 ms (missed cycles : 3).[0m ×2 + 2.91sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1794440433.33804584 seconds ×3 + 3.44sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 3.44sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.56sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1794440433.99011874 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.57sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.57sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.57sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.57sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.57sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.57sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.57sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.68sINFOobjective_server_nodeFound path in 0 iterations (2.9615e-05 s). ×2 + 3.68sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.70sINFOros2_control_node[2026-11-11 23:40:34.126] [info] Received new action goal ×2 + 3.70sINFOros2_control_node[2026-11-11 23:40:34.126] [info] Accepted new action goal ×2 + 6.09sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.19sINFOobjective_server_nodeFound path in 0 iterations (3.53e-07 s). ×2 + 6.20sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.22sINFOros2_control_node[2026-11-11 23:40:36.645] [info] Received new action goal ×2 + 6.22sINFOros2_control_node[2026-11-11 23:40:36.645] [info] Accepted new action goal ×2 | ||||
| − skipped | — | segment_point_cloud_from_clicked_point_subtree.xml | 0.0s | 3 warnings · 332 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1794440430.43010974 seconds ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.03sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 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: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.04sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.04sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.04sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 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_nodenode_substitutions: [] ×10 + 0.56sINFOobjective_server_node ×10 + 0.62sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1794440431.04746437 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.68sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1794440431.10762691 seconds ×3 + 1.16sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 1.33sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.40sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1794440431.83139277 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.42sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1794440431.85153341 seconds ×3 + 1.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 1.96sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.02sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1794440432.44589996 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1794440432.59641027 seconds ×3 + 2.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 2.80sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1794440433.28790212 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.87sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 2.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.88sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.442176 ms (missed cycles : 3). + 2.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.442176 ms (missed cycles : 3).[0m ×2 + 2.91sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1794440433.33804584 seconds ×3 + 3.44sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 3.44sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.56sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1794440433.99011874 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.57sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.57sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.57sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.57sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.57sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.57sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.57sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.68sINFOobjective_server_nodeFound path in 0 iterations (2.9615e-05 s). ×2 + 3.68sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.70sINFOros2_control_node[2026-11-11 23:40:34.126] [info] Received new action goal ×2 + 3.70sINFOros2_control_node[2026-11-11 23:40:34.126] [info] Accepted new action goal ×2 + 6.09sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.19sINFOobjective_server_nodeFound path in 0 iterations (3.53e-07 s). ×2 + 6.20sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.22sINFOros2_control_node[2026-11-11 23:40:36.645] [info] Received new action goal ×2 + 6.22sINFOros2_control_node[2026-11-11 23:40:36.645] [info] Accepted new action goal ×2 | ||||
| − skipped | — | segment_point_cloud_from_text_prompt_subtree.xml | 0.0s | 3 warnings · 332 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1794440430.43010974 seconds ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.03sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 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: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.04sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.04sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.04sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 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_nodenode_substitutions: [] ×10 + 0.56sINFOobjective_server_node ×10 + 0.62sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1794440431.04746437 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.68sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1794440431.10762691 seconds ×3 + 1.16sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 1.33sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.40sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1794440431.83139277 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.42sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1794440431.85153341 seconds ×3 + 1.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 1.96sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.02sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1794440432.44589996 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1794440432.59641027 seconds ×3 + 2.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 2.80sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1794440433.28790212 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.87sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 2.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.88sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.442176 ms (missed cycles : 3). + 2.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.442176 ms (missed cycles : 3).[0m ×2 + 2.91sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1794440433.33804584 seconds ×3 + 3.44sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 3.44sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.56sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1794440433.99011874 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.57sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.57sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.57sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.57sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.57sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.57sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.57sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.68sINFOobjective_server_nodeFound path in 0 iterations (2.9615e-05 s). ×2 + 3.68sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.70sINFOros2_control_node[2026-11-11 23:40:34.126] [info] Received new action goal ×2 + 3.70sINFOros2_control_node[2026-11-11 23:40:34.126] [info] Accepted new action goal ×2 + 6.09sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.19sINFOobjective_server_nodeFound path in 0 iterations (3.53e-07 s). ×2 + 6.20sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.22sINFOros2_control_node[2026-11-11 23:40:36.645] [info] Received new action goal ×2 + 6.22sINFOros2_control_node[2026-11-11 23:40:36.645] [info] Accepted new action goal ×2 | ||||
| − skipped | — | visualize_segmented_point_cloud.xml | 0.0s | 3 warnings · 332 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1794440430.43010974 seconds ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.03sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 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: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.04sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.04sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.04sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 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_nodenode_substitutions: [] ×10 + 0.56sINFOobjective_server_node ×10 + 0.62sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1794440431.04746437 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.68sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1794440431.10762691 seconds ×3 + 1.16sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 1.33sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.40sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1794440431.83139277 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.42sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1794440431.85153341 seconds ×3 + 1.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 1.96sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.02sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1794440432.44589996 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1794440432.59641027 seconds ×3 + 2.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 2.80sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1794440433.28790212 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.87sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 2.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.88sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.442176 ms (missed cycles : 3). + 2.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.442176 ms (missed cycles : 3).[0m ×2 + 2.91sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1794440433.33804584 seconds ×3 + 3.44sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 3.44sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.56sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1794440433.99011874 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.57sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.57sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.57sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.57sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.57sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.57sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.57sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.68sINFOobjective_server_nodeFound path in 0 iterations (2.9615e-05 s). ×2 + 3.68sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.70sINFOros2_control_node[2026-11-11 23:40:34.126] [info] Received new action goal ×2 + 3.70sINFOros2_control_node[2026-11-11 23:40:34.126] [info] Accepted new action goal ×2 + 6.09sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.19sINFOobjective_server_nodeFound path in 0 iterations (3.53e-07 s). ×2 + 6.20sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.22sINFOros2_control_node[2026-11-11 23:40:36.645] [info] Received new action goal ×2 + 6.22sINFOros2_control_node[2026-11-11 23:40:36.645] [info] Accepted new action goal ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/core3 pass8 skip
| ✓ passed | — | clear_snapshot.xml | 12.0s | 26 warnings · 784 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/2026-11-11-23-40-16-929225-6a4e41024adc-8457 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 0.68sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 0.69sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 0.69sINFOcontroller_managerupdate rate is 600 Hz + 0.69sINFOcontroller_managerOverruns handling is : enabled + 0.69sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 0.69sWARNcontroller_managerCould not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling. + 0.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.299264 ms (missed cycles : 6). + 0.93sINFOros2_control_node-1process started with pid [8505] ×2 + 0.93sINFOplanning_scene_server-9process started with pid [8542] ×2 + 0.93sINFOparameter_manager_node-10process started with pid [8543] ×2 + 0.93sINFOwaypoint_manager_node-11process started with pid [8544] ×2 + 0.93sINFOmove_joint_resampler_node-12process started with pid [8545] ×2 + 0.93sINFOmove_end_effector_resampler_node-13process started with pid [8546] ×2 + 0.93sINFOobjective_server_node_main-14process started with pid [8547] ×2 + 0.93sINFOcomponent_container_mt-15process started with pid [8552] ×2 + 0.93sINFOcomponent_container_mt-16process started with pid [8555] ×2 + 0.93sINFOexecute_objective_bridge-17process started with pid [8558] ×2 + 0.93sINFOui_teleop_bridge-18process started with pid [8565] ×2 + 0.93sINFOweb_bridge-19process started with pid [8566] ×2 + 0.93sINFOtf_visualization_relay-20process started with pid [8631] ×2 + 0.93sINFOjoint_state_visualization_relay-21process started with pid [8634] ×2 + 0.93sINFOtf2_web_republisher_node-22process started with pid [8637] ×2 + 0.93sINFOvideo_server-23process started with pid [8638] ×2 + 0.93sINFOweb_bridge_auth_proxy-24process started with pid [8639] ×2 + 0.93sINFOweb_video_auth_proxy-25process started with pid [8640] ×2 + 0.94sINFOros2-2process started with pid [8506] ×2 + 0.94sINFOros2-3process started with pid [8507] ×2 + 0.94sINFOros2-4process started with pid [8508] ×2 + 0.94sINFOros2-5process started with pid [8509] ×2 + 0.94sINFOros2-6process started with pid [8510] ×2 + 0.94sINFOros2-7process started with pid [8511] ×2 + 0.94sINFOros2-8process started with pid [8512] ×2 + 0.95sINFOcontroller_managerReceived robot description from topic. + 0.95sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 0.95sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 0.95sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 0.95sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 0.95sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 0.95sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 0.95sWARNros2_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 + 0.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.299264 ms (missed cycles : 6).[0m ×2 + 0.95sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 0.95sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 0.96sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 0.98sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 0.98sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 1.03sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 1.09sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 1.14sINFOvideo_server2026/11/11 23:40:18 INF MediaMTX v1.20.1, linux, amd64 ×2 + 1.15sINFOvideo_server2026/11/11 23:40:18 INF configuration loaded from /tmp/moveit-webrtc-rl1wyddf/mediamtx.yml ×2 + 1.15sINFOvideo_server2026/11/11 23:40:18 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 + 1.15sINFOvideo_server2026/11/11 23:40:18 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 + 1.50sINFOspawner_joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.50sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 1.81sINFOplanning_scene_server[2026-11-11 23:40:19.084] [moveit_pro_license] [info] ×2 + 1.81sINFOplanning_scene_server************************************************* ×4 + 1.81sINFOplanning_scene_server* MoveIt Pro License ×2 + 1.81sINFOplanning_scene_server* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 2.11sINFOplanning_scene_server ×4 + 2.11sINFOplanning_scene_server[92mYou can start planning now![0m ×2 + 2.16sINFOweb_video_auth_proxy2026-11-11 23:40:19,435 INFO moveit_studio_utils_py.tls: Generated MoveIt Pro self-signed TLS certificate at /github/home/.local/share/moveit_pro/tls/cert.pem ×2 + 2.16sINFOweb_video_auth_proxy2026-11-11 23:40:19,437 INFO auth_proxy: TLS auth proxy on 0.0.0.0:3202 -> 127.0.0.1:13202 ×2 + 2.16sINFOweb_bridge_auth_proxy2026-11-11 23:40:19,441 INFO auth_proxy: TLS auth proxy on 0.0.0.0:3201 -> 127.0.0.1:13201 ×2 + 2.20sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 2.20sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 2.20sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 2.20sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 2.22sINFOros2_control_nodeScanned 4 MuJoCo plugin libraries in '/opt/overlay_ws/install/picknik_mujoco/bin/mujoco_plugin': libactuator.so, libelasticity.so, libsdf_plugin.so, libsensor.so.[0m ×2 + 2.22sINFOros2_control_nodeScanned 1 MuJoCo plugin libraries in '/opt/overlay_ws/install/mujoco_package_uri/bin/mujoco_plugin': libmujoco_package_uri_resource_provider.so.[0m ×2 + 2.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.561345 ms (missed cycles : 4). + 2.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.561345 ms (missed cycles : 4).[0m ×2 + 2.39sINFOwaypoint_manager_node[2026-11-11 23:40:19.664] [moveit_pro_license] [info] ×2 + 2.39sINFOwaypoint_manager_node************************************************* ×4 + 2.39sINFOwaypoint_manager_node* MoveIt Pro License ×2 + 2.39sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 2.46sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 3.24sINFOobjective_server_node[2026-11-11 23:40:20.524] [moveit_pro_license] [info] ×2 + 3.25sINFOobjective_server_node************************************************* ×4 + 3.25sINFOobjective_server_node* MoveIt Pro License ×2 + 3.25sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 3.30sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 3.38sINFOobjective_server_nodeWarning: class_loader.ClassLoader: SEVERE WARNING!!! Attempting to unload library while objects created by this loader exist in the heap! You should delete your objects before attempting to unload the library or destroying the ClassLoader. The library will NOT be unloaded. ×2 + 3.38sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 3.40sINFOobjective_server_nodeLoading 7 behavior loader plugin(s): ×2 + 3.40sINFOobjective_server_nodemoveit_pro::behaviors::MPCBehaviorsLoader ×2 + 3.40sINFOobjective_server_nodelab_sim_behaviors::LabSimBehaviorsLoader ×2 + 3.40sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 3.40sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 3.40sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 3.40sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 3.40sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 3.65sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 3.65sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 3.75sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 3.93sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 4.05sINFOcomponent_container_mt[2026-11-11 23:40:21.334] [moveit_pro_license] [info] ×2 + 4.06sINFOcomponent_container_mt************************************************* ×4 + 4.06sINFOcomponent_container_mt* MoveIt Pro License ×2 + 4.06sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 4.10sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 4.11sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/surface_coverage_accumulator' in container '/moveit_studio_point_cloud_container' ×2 + 4.25sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 4.28sWARNros2_control_nodeNo keyframe specified, applying first keyframe to set initial state.[0m ×2 + 4.28sINFOros2_control_nodeResolved base link to MuJoCo body `world` (id 0) via URDF chain walk. Its parent TF edge is published by this interface from MuJoCo ground truth.[0m ×2 + 4.28sWARNros2_control_node16 MuJoCo bodies do not sit where the URDF places the same-named link. Sensor sites on these links are parented to an ancestor whose frames agree, so sensor frames stay correct, but the collision geometry MoveIt plans against does not match what MuJoCo simulates. Descendants inherit their ancestor's error, so correct the first link listed: ×2 + 4.28sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 4.28sINFOros2_control_nodebase: 0.0002 m, 3.1416 rad ×2 + 4.28sINFOros2_control_nodeshoulder_link: 0.0006 m, 3.1416 rad ×2 + 4.29sINFOros2_control_nodeupper_arm_link: 0.1380 m, 2.0944 rad ×2 + 4.29sINFOros2_control_nodeforearm_link: 0.0070 m, 2.0944 rad ×2 + 4.29sINFOros2_control_nodewrist_1_link: 0.1264 m, 1.5708 rad ×2 + 4.29sINFOros2_control_nodewrist_2_link: 0.1004 m, 0.0000 rad ×2 + 4.29sINFOros2_control_nodewrist_3_link: 0.1003 m, 1.5708 rad ×2 + 4.29sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 4.29sINFOros2_control_noderobotiq_85_base_link: 0.0073 m, 1.5708 rad ×2 + 4.29sINFOros2_control_noderobotiq_85_left_inner_knuckle_link: 0.0078 m, 1.5708 rad ×2 + 4.29sINFOros2_control_noderobotiq_85_left_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 4.29sINFOros2_control_noderobotiq_85_right_inner_knuckle_link: 0.0079 m, 1.5708 rad ×2 + 4.29sINFOros2_control_noderobotiq_85_right_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 4.29sINFOros2_control_noderobotiq_85_left_finger_link: 0.0076 m, 1.5708 rad ×2 + 4.29sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 4.29sINFOros2_control_noderobotiq_85_left_finger_tip_link: 0.1092 m, 2.0014 rad ×2 + 4.29sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 4.29sINFOros2_control_noderobotiq_85_right_finger_link: 0.0076 m, 1.5708 rad ×2 + 4.29sINFOros2_control_noderobotiq_85_right_finger_tip_link: 0.1096 m, 2.0014 rad[0m ×2 + 4.29sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 4.29sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 4.29sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 4.29sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 4.29sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 4.29sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 4.29sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 4.29sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 4.51sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 4.51sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 4.51sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 4.51sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 4.51sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_6v_ppjnv --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_imsak632 --params-file /tmp/launch_params_be53t2pf + 4.51sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_6v_ppjnv --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_imsak632 --params-file /tmp/launch_params_be53t2pf [0m ×2 + 4.55sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 4.55sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 4.55sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 4.55sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 4.55sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 4.55sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 4.55sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 4.55sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 4.55sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 4.55sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 4.56sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 4.56sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 4.56sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 4.56sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 4.56sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.56sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.56sINFOcontroller_managerSuccessfully switched controllers! ×16 + 4.56sINFOros2_control_nodeSuccessfully switched controllers![0m ×32 + 4.56sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 4.56sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 4.76sINFOros2_control_nodeTrying EGL candidate default display for offscreen camera rendering.[0m ×2 + 4.76sINFOros2_control_nodeTrying EGL candidate platform device 0 (software) for offscreen camera rendering.[0m ×2 + 4.80sINFOros2_control_nodeMuJoCo offscreen rendering bound to EGL vendor 'Mesa Project' (1.5), renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' (software), via platform device 0 (software).[0m ×2 + 4.80sINFOros2_control_nodeFell back to platform device 0 (software) after skipping: default display: eglInitialize failed: EGL_NOT_INITIALIZED (0x3001).[0m ×2 + 4.80sWARNros2_control_nodeMuJoCo camera rendering is using software rasterizer 'llvmpipe (LLVM 20.1.2, 256 bits)'. Camera images will be produced substantially slower than on a GPU, which surfaces downstream as camera topics missing their publish rate.[0m ×2 + 4.83sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 4.83sINFOcontroller_managerLoading controller 'velocity_force_controller' + 4.83sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 4.83sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 4.87sINFOros2-5process has finished cleanly [pid 8509] ×2 + 4.96sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_6v_ppjnv --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_imsak632 --params-file /tmp/launch_params_be53t2pf + 4.96sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_6v_ppjnv --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_imsak632 --params-file /tmp/launch_params_be53t2pf [0m ×2 + 4.99sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 4.99sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 4.99sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 4.99sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 5.00sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 5.02sINFOros2_control_node[2026-11-11 23:40:22.301] [info] Controller state will be published at 10 Hz. ×2 + 5.02sINFOros2_control_node[2026-11-11 23:40:22.302] [info] VelocityForceController 'on_configure' succeeded. ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.904376 ms (missed cycles : 2). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.904376 ms (missed cycles : 2).[0m ×2 + 5.31sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 5.31sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 5.31sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 5.31sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 5.35sINFOros2-7process has finished cleanly [pid 8511] ×2 + 5.42sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_6v_ppjnv --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_imsak632 --params-file /tmp/launch_params_be53t2pf + 5.42sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_6v_ppjnv --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_imsak632 --params-file /tmp/launch_params_be53t2pf [0m ×2 + 5.46sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 5.46sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 5.46sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 5.46sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 5.46sINFOros2_control_node[2026-11-11 23:40:22.742] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 5.46sINFOros2_control_node[2026-11-11 23:40:22.742] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 5.49sINFOros2_control_node[2026-11-11 23:40:22.768] [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 + 5.49sINFOros2_control_node[2026-11-11 23:40:22.768] [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 + 5.49sINFOros2_control_node[2026-11-11 23:40:22.769] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 5.49sINFOros2_control_node[2026-11-11 23:40:22.769] [info] Controller state will be published at 50 Hz. ×2 + 5.50sINFOros2_control_node[2026-11-11 23:40:22.778] [info] Registered `FollowJointTrajectory` action server. ×2 + 5.79sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 5.79sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 5.79sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 5.79sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 5.82sINFOros2-6process has finished cleanly [pid 8510] ×2 + 5.87sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_6v_ppjnv --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_imsak632 --params-file /tmp/launch_params_be53t2pf + 5.87sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_6v_ppjnv --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_imsak632 --params-file /tmp/launch_params_be53t2pf [0m ×2 + 5.91sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 5.91sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 5.91sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 5.91sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 5.94sINFOros2_control_node[2026-11-11 23:40:23.216] [info] Controller state will be published at 20 Hz. ×2 + 5.94sINFOros2_control_node[2026-11-11 23:40:23.217] [info] JointVelocityController 'on_configure' succeeded. ×2 + 6.23sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 6.23sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 6.24sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 6.24sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 6.24sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_6v_ppjnv --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_imsak632 --params-file /tmp/launch_params_be53t2pf + 6.24sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_6v_ppjnv --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_imsak632 --params-file /tmp/launch_params_be53t2pf [0m ×2 + 6.25sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 6.25sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 6.27sINFOros2-8process has finished cleanly [pid 8512] ×2 + 6.28sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 6.28sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 6.28sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 6.28sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 6.28sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 6.28sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 6.28sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 6.28sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 6.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.939371 ms (missed cycles : 3). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.939371 ms (missed cycles : 3).[0m ×2 + 6.29sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 6.29sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 6.38sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 6.60sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 6.60sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 6.60sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 6.60sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 6.60sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_6v_ppjnv --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_imsak632 --params-file /tmp/launch_params_be53t2pf + 6.60sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_6v_ppjnv --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_imsak632 --params-file /tmp/launch_params_be53t2pf [0m ×2 + 6.64sINFOros2-3process has finished cleanly [pid 8507] ×2 + 6.64sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 6.64sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 6.64sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 6.64sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 6.65sINFOforce_torque_sensor_broadcasterconfigure successful + 6.65sINFOros2_control_nodeconfigure successful[0m ×2 + 6.65sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 6.65sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 6.65sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 6.65sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 6.93sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 6.93sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 6.93sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 6.93sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 6.93sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_6v_ppjnv --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_imsak632 --params-file /tmp/launch_params_be53t2pf + 6.93sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_6v_ppjnv --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_imsak632 --params-file /tmp/launch_params_be53t2pf [0m ×2 + 6.96sINFOros2-2process has finished cleanly [pid 8506] ×2 + 6.97sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 6.97sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 6.97sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 6.97sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 6.97sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 6.97sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 6.98sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 6.98sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 6.98sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 6.98sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 7.30sINFOros2-4process has finished cleanly [pid 8508] ×2 + 8.43sWARNobjective_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 + 10.90sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 10.93sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 10.93sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 10.93sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 10.93sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 10.93sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 10.93sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 10.96sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 10.96sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 10.96sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 10.96sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 10.97sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 10.97sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 11.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 11.56sINFOobjective_server_nodeReceived /do_objective goal: ×12 + 11.56sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 11.56sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 11.56sINFOobjective_server_nodeparameter_overrides: [] ×12 + 11.56sINFOobjective_server_nodecaller: ×12 + 11.56sINFOobjective_server_nodetype: 0 ×12 + 11.56sINFOobjective_server_nodename: "" ×12 + 11.56sINFOobjective_server_nodeinstance_id: "" ×12 + 11.56sINFOobjective_server_nodenode_substitutions: [] ×12 + 11.56sINFOobjective_server_node ×12 + 11.62sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1794440428.89838696 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 11.63sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1794440428.90863299 seconds ×3 + 12.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 12.17sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 12.24sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1794440429.51994610 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 12.24sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 12.25sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 13.15sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1794440430.43010974 seconds ×3 + 13.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 13.71sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 13.77sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1794440431.04746437 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 13.83sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1794440431.10762691 seconds ×3 + 14.31sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 14.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 14.49sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 14.55sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1794440431.83139277 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.57sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1794440431.85153341 seconds ×3 + 15.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 15.11sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 15.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1794440432.44589996 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.32sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1794440432.59641027 seconds ×3 + 15.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 15.95sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 | ||||
| ✓ passed | — | vector_subtrees_example.xml | 0.7s | 3 warnings · 359 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 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_nodenode_substitutions: [] ×12 + 0.00sINFOobjective_server_node ×12 + 0.07sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1794440429.51994610 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.08sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.08sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.98sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1794440430.43010974 seconds ×3 + 1.01sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.01sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.01sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.01sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.02sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.02sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.02sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.02sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.02sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 1.54sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.60sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1794440431.04746437 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.66sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1794440431.10762691 seconds ×3 + 2.14sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 2.32sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.38sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1794440431.83139277 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.40sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1794440431.85153341 seconds ×3 + 2.94sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 2.94sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.00sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1794440432.44589996 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.15sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1794440432.59641027 seconds ×3 + 3.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 3.78sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.84sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1794440433.28790212 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.85sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.86sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.87sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.87sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.87sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.442176 ms (missed cycles : 3). + 3.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.442176 ms (missed cycles : 3).[0m ×2 + 3.89sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1794440433.33804584 seconds ×3 + 4.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 4.43sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.54sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1794440433.99011874 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.55sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.56sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.56sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.56sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.56sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.56sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.56sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.56sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.56sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.66sINFOobjective_server_nodeFound path in 0 iterations (2.9615e-05 s). ×2 + 4.66sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.68sINFOros2_control_node[2026-11-11 23:40:34.126] [info] Received new action goal ×2 + 4.68sINFOros2_control_node[2026-11-11 23:40:34.126] [info] Accepted new action goal ×2 + 7.07sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 7.17sINFOobjective_server_nodeFound path in 0 iterations (3.53e-07 s). ×2 + 7.18sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 7.20sINFOros2_control_node[2026-11-11 23:40:36.645] [info] Received new action goal ×2 + 7.20sINFOros2_control_node[2026-11-11 23:40:36.645] [info] Accepted new action goal ×2 | ||||
| ✓ passed | — | reset_planning_scene.xml | 0.7s | 3 warnings · 397 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 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_nodenode_substitutions: [] ×14 + 0.00sINFOobjective_server_node ×14 + 0.06sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1794440428.89838696 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.07sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1794440428.90863299 seconds ×3 + 0.08sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 0.08sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 0.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.08sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.09sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.09sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 0.09sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 0.09sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 0.09sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 0.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 0.61sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.69sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1794440429.51994610 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.69sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.69sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.60sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1794440430.43010974 seconds ×3 + 2.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 2.16sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.21sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1794440431.04746437 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1794440431.10762691 seconds ×3 + 2.76sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 2.93sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.00sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1794440431.83139277 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.02sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1794440431.85153341 seconds ×3 + 3.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 3.55sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.61sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1794440432.44589996 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1794440432.59641027 seconds ×3 + 4.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 4.39sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.45sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1794440433.28790212 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.47sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.47sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.48sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.48sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.48sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.442176 ms (missed cycles : 3). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.442176 ms (missed cycles : 3).[0m ×2 + 4.50sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1794440433.33804584 seconds ×3 + 5.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 5.04sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 5.16sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1794440433.99011874 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.17sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 5.17sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.17sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.17sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.17sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.17sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.17sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.17sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.17sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.27sINFOobjective_server_nodeFound path in 0 iterations (2.9615e-05 s). ×2 + 5.27sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 5.29sINFOros2_control_node[2026-11-11 23:40:34.126] [info] Received new action goal ×2 + 5.29sINFOros2_control_node[2026-11-11 23:40:34.126] [info] Accepted new action goal ×2 | ||||
| − skipped | — | createvector.xml | 0.0s | 3 warnings · 427 info |
+ 0.00sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.03sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 0.03sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.03sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 0.03sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 0.06sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.06sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.06sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 0.06sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 0.07sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 0.07sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 0.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 0.65sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.65sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.65sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.65sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.65sINFOobjective_server_nodecaller: ×14 + 0.66sINFOobjective_server_nodetype: 0 ×14 + 0.66sINFOobjective_server_nodename: "" ×14 + 0.66sINFOobjective_server_nodeinstance_id: "" ×14 + 0.66sINFOobjective_server_nodenode_substitutions: [] ×14 + 0.66sINFOobjective_server_node ×14 + 0.72sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1794440428.89838696 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.73sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1794440428.90863299 seconds ×3 + 1.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 1.27sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.34sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1794440429.51994610 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: 1794440430.43010974 seconds ×3 + 2.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 2.81sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.87sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1794440431.04746437 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.93sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1794440431.10762691 seconds ×3 + 3.41sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 3.58sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.65sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1794440431.83139277 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.67sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1794440431.85153341 seconds ×3 + 4.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 4.21sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.27sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1794440432.44589996 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.42sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1794440432.59641027 seconds ×3 + 5.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 5.05sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1794440433.28790212 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.12sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 5.12sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 5.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.13sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.442176 ms (missed cycles : 3). + 5.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.442176 ms (missed cycles : 3).[0m ×2 + 5.16sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1794440433.33804584 seconds ×3 + 5.69sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 5.69sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 5.81sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1794440433.99011874 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.82sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 5.82sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.82sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.82sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.82sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.82sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.82sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.82sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.82sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.92sINFOobjective_server_nodeFound path in 0 iterations (2.9615e-05 s). ×2 + 5.93sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 5.95sINFOros2_control_node[2026-11-11 23:40:34.126] [info] Received new action goal ×2 + 5.95sINFOros2_control_node[2026-11-11 23:40:34.126] [info] Accepted new action goal ×2 | ||||
| − skipped | — | wait_for_trajectory_approval_if_user_available.xml | 0.0s | 3 warnings · 332 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1794440430.43010974 seconds ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.03sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 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: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.04sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.04sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.04sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 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_nodenode_substitutions: [] ×10 + 0.56sINFOobjective_server_node ×10 + 0.62sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1794440431.04746437 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.68sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1794440431.10762691 seconds ×3 + 1.16sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 1.33sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.40sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1794440431.83139277 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.42sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1794440431.85153341 seconds ×3 + 1.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 1.96sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.02sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1794440432.44589996 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1794440432.59641027 seconds ×3 + 2.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 2.80sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1794440433.28790212 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.87sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 2.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.88sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.442176 ms (missed cycles : 3). + 2.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.442176 ms (missed cycles : 3).[0m ×2 + 2.91sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1794440433.33804584 seconds ×3 + 3.44sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 3.44sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.56sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1794440433.99011874 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.57sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.57sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.57sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.57sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.57sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.57sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.57sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.68sINFOobjective_server_nodeFound path in 0 iterations (2.9615e-05 s). ×2 + 3.68sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.70sINFOros2_control_node[2026-11-11 23:40:34.126] [info] Received new action goal ×2 + 3.70sINFOros2_control_node[2026-11-11 23:40:34.126] [info] Accepted new action goal ×2 + 6.09sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.19sINFOobjective_server_nodeFound path in 0 iterations (3.53e-07 s). ×2 + 6.20sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.22sINFOros2_control_node[2026-11-11 23:40:36.645] [info] Received new action goal ×2 + 6.22sINFOros2_control_node[2026-11-11 23:40:36.645] [info] Accepted new action goal ×2 | ||||
| − skipped | — | addtovector.xml | 0.0s | 9 warnings · 178 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/2026-11-11-23-40-16-929225-6a4e41024adc-8457 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 0.68sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 0.69sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 0.69sINFOcontroller_managerupdate rate is 600 Hz + 0.69sINFOcontroller_managerOverruns handling is : enabled + 0.69sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 0.69sWARNcontroller_managerCould not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling. + 0.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.299264 ms (missed cycles : 6). + 0.93sINFOros2_control_node-1process started with pid [8505] ×2 + 0.93sINFOplanning_scene_server-9process started with pid [8542] ×2 + 0.93sINFOparameter_manager_node-10process started with pid [8543] ×2 + 0.93sINFOwaypoint_manager_node-11process started with pid [8544] ×2 + 0.93sINFOmove_joint_resampler_node-12process started with pid [8545] ×2 + 0.93sINFOmove_end_effector_resampler_node-13process started with pid [8546] ×2 + 0.93sINFOobjective_server_node_main-14process started with pid [8547] ×2 + 0.93sINFOcomponent_container_mt-15process started with pid [8552] ×2 + 0.93sINFOcomponent_container_mt-16process started with pid [8555] ×2 + 0.93sINFOexecute_objective_bridge-17process started with pid [8558] ×2 + 0.93sINFOui_teleop_bridge-18process started with pid [8565] ×2 + 0.93sINFOweb_bridge-19process started with pid [8566] ×2 + 0.93sINFOtf_visualization_relay-20process started with pid [8631] ×2 + 0.93sINFOjoint_state_visualization_relay-21process started with pid [8634] ×2 + 0.93sINFOtf2_web_republisher_node-22process started with pid [8637] ×2 + 0.93sINFOvideo_server-23process started with pid [8638] ×2 + 0.93sINFOweb_bridge_auth_proxy-24process started with pid [8639] ×2 + 0.93sINFOweb_video_auth_proxy-25process started with pid [8640] ×2 + 0.94sINFOros2-2process started with pid [8506] ×2 + 0.94sINFOros2-3process started with pid [8507] ×2 + 0.94sINFOros2-4process started with pid [8508] ×2 + 0.94sINFOros2-5process started with pid [8509] ×2 + 0.94sINFOros2-6process started with pid [8510] ×2 + 0.94sINFOros2-7process started with pid [8511] ×2 + 0.94sINFOros2-8process started with pid [8512] ×2 + 0.95sINFOcontroller_managerReceived robot description from topic. + 0.95sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 0.95sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 0.95sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 0.95sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 0.95sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 0.95sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 0.95sWARNros2_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 + 0.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.299264 ms (missed cycles : 6).[0m ×2 + 0.95sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 0.95sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 0.96sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 0.98sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 0.98sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 1.03sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 1.09sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 1.14sINFOvideo_server2026/11/11 23:40:18 INF MediaMTX v1.20.1, linux, amd64 ×2 + 1.15sINFOvideo_server2026/11/11 23:40:18 INF configuration loaded from /tmp/moveit-webrtc-rl1wyddf/mediamtx.yml ×2 + 1.15sINFOvideo_server2026/11/11 23:40:18 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 + 1.15sINFOvideo_server2026/11/11 23:40:18 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 + 1.50sINFOspawner_joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.50sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 1.81sINFOplanning_scene_server[2026-11-11 23:40:19.084] [moveit_pro_license] [info] ×2 + 1.81sINFOplanning_scene_server************************************************* ×4 + 1.81sINFOplanning_scene_server* MoveIt Pro License ×2 + 1.81sINFOplanning_scene_server* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 2.11sINFOplanning_scene_server ×4 + 2.11sINFOplanning_scene_server[92mYou can start planning now![0m ×2 + 2.16sINFOweb_video_auth_proxy2026-11-11 23:40:19,435 INFO moveit_studio_utils_py.tls: Generated MoveIt Pro self-signed TLS certificate at /github/home/.local/share/moveit_pro/tls/cert.pem ×2 + 2.16sINFOweb_video_auth_proxy2026-11-11 23:40:19,437 INFO auth_proxy: TLS auth proxy on 0.0.0.0:3202 -> 127.0.0.1:13202 ×2 + 2.16sINFOweb_bridge_auth_proxy2026-11-11 23:40:19,441 INFO auth_proxy: TLS auth proxy on 0.0.0.0:3201 -> 127.0.0.1:13201 ×2 + 2.20sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 2.20sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 2.20sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 2.20sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 2.22sINFOros2_control_nodeScanned 4 MuJoCo plugin libraries in '/opt/overlay_ws/install/picknik_mujoco/bin/mujoco_plugin': libactuator.so, libelasticity.so, libsdf_plugin.so, libsensor.so.[0m ×2 + 2.22sINFOros2_control_nodeScanned 1 MuJoCo plugin libraries in '/opt/overlay_ws/install/mujoco_package_uri/bin/mujoco_plugin': libmujoco_package_uri_resource_provider.so.[0m ×2 + 2.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.561345 ms (missed cycles : 4). + 2.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.561345 ms (missed cycles : 4).[0m ×2 + 2.39sINFOwaypoint_manager_node[2026-11-11 23:40:19.664] [moveit_pro_license] [info] ×2 + 2.39sINFOwaypoint_manager_node************************************************* ×4 + 2.39sINFOwaypoint_manager_node* MoveIt Pro License ×2 + 2.39sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 2.46sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 3.24sINFOobjective_server_node[2026-11-11 23:40:20.524] [moveit_pro_license] [info] ×2 + 3.25sINFOobjective_server_node************************************************* ×4 + 3.25sINFOobjective_server_node* MoveIt Pro License ×2 + 3.25sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 3.30sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 3.38sINFOobjective_server_nodeWarning: class_loader.ClassLoader: SEVERE WARNING!!! Attempting to unload library while objects created by this loader exist in the heap! You should delete your objects before attempting to unload the library or destroying the ClassLoader. The library will NOT be unloaded. ×2 + 3.38sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 3.40sINFOobjective_server_nodeLoading 7 behavior loader plugin(s): ×2 + 3.40sINFOobjective_server_nodemoveit_pro::behaviors::MPCBehaviorsLoader ×2 + 3.40sINFOobjective_server_nodelab_sim_behaviors::LabSimBehaviorsLoader ×2 + 3.40sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 3.40sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 3.40sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 3.40sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 3.40sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 3.65sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 3.65sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 3.75sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 3.93sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 | ||||
| − skipped | — | convert_collisionobject_to_graspableobject.xml | 0.0s | 3 warnings · 427 info |
+ 0.00sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.03sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 0.03sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.03sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 0.03sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 0.06sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.06sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.06sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 0.06sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 0.07sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 0.07sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 0.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 0.65sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.65sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.65sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.65sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.65sINFOobjective_server_nodecaller: ×14 + 0.66sINFOobjective_server_nodetype: 0 ×14 + 0.66sINFOobjective_server_nodename: "" ×14 + 0.66sINFOobjective_server_nodeinstance_id: "" ×14 + 0.66sINFOobjective_server_nodenode_substitutions: [] ×14 + 0.66sINFOobjective_server_node ×14 + 0.72sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1794440428.89838696 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.73sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1794440428.90863299 seconds ×3 + 1.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 1.27sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.34sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1794440429.51994610 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: 1794440430.43010974 seconds ×3 + 2.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 2.81sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.87sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1794440431.04746437 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.93sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1794440431.10762691 seconds ×3 + 3.41sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 3.58sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.65sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1794440431.83139277 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.67sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1794440431.85153341 seconds ×3 + 4.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 4.21sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.27sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1794440432.44589996 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.42sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1794440432.59641027 seconds ×3 + 5.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 5.05sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1794440433.28790212 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.12sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 5.12sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 5.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.13sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.442176 ms (missed cycles : 3). + 5.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.442176 ms (missed cycles : 3).[0m ×2 + 5.16sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1794440433.33804584 seconds ×3 + 5.69sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 5.69sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 5.81sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1794440433.99011874 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.82sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 5.82sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.82sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.82sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.82sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.82sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.82sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.82sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.82sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.92sINFOobjective_server_nodeFound path in 0 iterations (2.9615e-05 s). ×2 + 5.93sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 5.95sINFOros2_control_node[2026-11-11 23:40:34.126] [info] Received new action goal ×2 + 5.95sINFOros2_control_node[2026-11-11 23:40:34.126] [info] Accepted new action goal ×2 | ||||
| − skipped | — | find_nearest_pose_in_path.xml | 0.0s | 3 warnings · 427 info |
+ 0.00sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.03sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 0.03sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.03sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 0.03sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 0.06sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.06sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.06sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 0.06sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 0.07sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 0.07sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 0.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 0.65sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.65sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.65sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.65sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.65sINFOobjective_server_nodecaller: ×14 + 0.66sINFOobjective_server_nodetype: 0 ×14 + 0.66sINFOobjective_server_nodename: "" ×14 + 0.66sINFOobjective_server_nodeinstance_id: "" ×14 + 0.66sINFOobjective_server_nodenode_substitutions: [] ×14 + 0.66sINFOobjective_server_node ×14 + 0.72sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1794440428.89838696 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.73sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1794440428.90863299 seconds ×3 + 1.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 1.27sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.34sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1794440429.51994610 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: 1794440430.43010974 seconds ×3 + 2.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 2.81sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.87sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1794440431.04746437 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.93sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1794440431.10762691 seconds ×3 + 3.41sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 3.58sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.65sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1794440431.83139277 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.67sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1794440431.85153341 seconds ×3 + 4.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 4.21sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.27sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1794440432.44589996 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.42sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1794440432.59641027 seconds ×3 + 5.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 5.05sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1794440433.28790212 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.12sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 5.12sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 5.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.13sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.442176 ms (missed cycles : 3). + 5.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.442176 ms (missed cycles : 3).[0m ×2 + 5.16sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1794440433.33804584 seconds ×3 + 5.69sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 5.69sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 5.81sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1794440433.99011874 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.82sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 5.82sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.82sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.82sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.82sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.82sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.82sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.82sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.82sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.92sINFOobjective_server_nodeFound path in 0 iterations (2.9615e-05 s). ×2 + 5.93sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 5.95sINFOros2_control_node[2026-11-11 23:40:34.126] [info] Received new action goal ×2 + 5.95sINFOros2_control_node[2026-11-11 23:40:34.126] [info] Accepted new action goal ×2 | ||||
| − skipped | — | request_teleoperation.xml | 0.0s | 3 warnings · 397 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 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_nodenode_substitutions: [] ×14 + 0.00sINFOobjective_server_node ×14 + 0.06sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1794440428.89838696 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.07sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1794440428.90863299 seconds ×3 + 0.08sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 0.08sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 0.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.08sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.09sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.09sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 0.09sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 0.09sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 0.09sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 0.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 0.61sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.69sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1794440429.51994610 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.69sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.69sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.60sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1794440430.43010974 seconds ×3 + 2.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 2.16sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.21sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1794440431.04746437 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1794440431.10762691 seconds ×3 + 2.76sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 2.93sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.00sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1794440431.83139277 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.02sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1794440431.85153341 seconds ×3 + 3.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 3.55sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.61sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1794440432.44589996 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1794440432.59641027 seconds ×3 + 4.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 4.39sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.45sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1794440433.28790212 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.47sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.47sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.48sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.48sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.48sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.442176 ms (missed cycles : 3). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.442176 ms (missed cycles : 3).[0m ×2 + 4.50sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1794440433.33804584 seconds ×3 + 5.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 5.04sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 5.16sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1794440433.99011874 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.17sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 5.17sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.17sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.17sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.17sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.17sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.17sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.17sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.17sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.27sINFOobjective_server_nodeFound path in 0 iterations (2.9615e-05 s). ×2 + 5.27sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 5.29sINFOros2_control_node[2026-11-11 23:40:34.126] [info] Received new action goal ×2 + 5.29sINFOros2_control_node[2026-11-11 23:40:34.126] [info] Accepted new action goal ×2 | ||||
| − skipped | — | teleoperate.xml | 0.0s | 3 warnings · 345 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 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_nodenode_substitutions: [] ×12 + 0.00sINFOobjective_server_node ×12 + 0.07sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1794440429.51994610 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.08sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.08sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.98sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1794440430.43010974 seconds ×3 + 1.01sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.01sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.01sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.01sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.02sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.02sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.02sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.02sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.02sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 1.54sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.60sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1794440431.04746437 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.66sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1794440431.10762691 seconds ×3 + 2.14sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 2.32sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.38sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1794440431.83139277 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.40sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1794440431.85153341 seconds ×3 + 2.94sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 2.94sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.00sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1794440432.44589996 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.15sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1794440432.59641027 seconds ×3 + 3.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 3.78sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.84sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1794440433.28790212 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.85sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.86sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.87sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.87sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.87sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.442176 ms (missed cycles : 3). + 3.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.442176 ms (missed cycles : 3).[0m ×2 + 3.89sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1794440433.33804584 seconds ×3 + 4.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 4.43sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.54sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1794440433.99011874 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.55sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.56sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.56sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.56sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.56sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.56sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.56sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.56sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.56sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.66sINFOobjective_server_nodeFound path in 0 iterations (2.9615e-05 s). ×2 + 4.66sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.68sINFOros2_control_node[2026-11-11 23:40:34.126] [info] Received new action goal ×2 + 4.68sINFOros2_control_node[2026-11-11 23:40:34.126] [info] Accepted new action goal ×2 | ||||
| − skipped | — | wait_for_joint_trajectory_approval.xml | 0.0s | 3 warnings · 332 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1794440430.43010974 seconds ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.03sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 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: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.04sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.04sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.04sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 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_nodenode_substitutions: [] ×10 + 0.56sINFOobjective_server_node ×10 + 0.62sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1794440431.04746437 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.68sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1794440431.10762691 seconds ×3 + 1.16sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 1.33sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.40sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1794440431.83139277 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.42sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1794440431.85153341 seconds ×3 + 1.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 1.96sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.02sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1794440432.44589996 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1794440432.59641027 seconds ×3 + 2.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 2.80sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1794440433.28790212 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.87sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 2.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.88sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.442176 ms (missed cycles : 3). + 2.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.442176 ms (missed cycles : 3).[0m ×2 + 2.91sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1794440433.33804584 seconds ×3 + 3.44sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 3.44sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.56sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1794440433.99011874 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.57sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.57sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.57sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.57sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.57sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.57sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.57sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.68sINFOobjective_server_nodeFound path in 0 iterations (2.9615e-05 s). ×2 + 3.68sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.70sINFOros2_control_node[2026-11-11 23:40:34.126] [info] Received new action goal ×2 + 3.70sINFOros2_control_node[2026-11-11 23:40:34.126] [info] Accepted new action goal ×2 + 6.09sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.19sINFOobjective_server_nodeFound path in 0 iterations (3.53e-07 s). ×2 + 6.20sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.22sINFOros2_control_node[2026-11-11 23:40:36.645] [info] Received new action goal ×2 + 6.22sINFOros2_control_node[2026-11-11 23:40:36.645] [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 · 332 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1794440430.43010974 seconds ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.03sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 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: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.04sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.04sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.04sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 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_nodenode_substitutions: [] ×10 + 0.56sINFOobjective_server_node ×10 + 0.62sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1794440431.04746437 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.68sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1794440431.10762691 seconds ×3 + 1.16sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 1.33sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.40sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1794440431.83139277 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.42sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1794440431.85153341 seconds ×3 + 1.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 1.96sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.02sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1794440432.44589996 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1794440432.59641027 seconds ×3 + 2.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 2.80sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1794440433.28790212 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.87sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 2.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.88sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.442176 ms (missed cycles : 3). + 2.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.442176 ms (missed cycles : 3).[0m ×2 + 2.91sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1794440433.33804584 seconds ×3 + 3.44sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 3.44sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.56sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1794440433.99011874 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.57sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.57sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.57sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.57sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.57sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.57sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.57sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.68sINFOobjective_server_nodeFound path in 0 iterations (2.9615e-05 s). ×2 + 3.68sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.70sINFOros2_control_node[2026-11-11 23:40:34.126] [info] Received new action goal ×2 + 3.70sINFOros2_control_node[2026-11-11 23:40:34.126] [info] Accepted new action goal ×2 + 6.09sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.19sINFOobjective_server_nodeFound path in 0 iterations (3.53e-07 s). ×2 + 6.20sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.22sINFOros2_control_node[2026-11-11 23:40:36.645] [info] Received new action goal ×2 + 6.22sINFOros2_control_node[2026-11-11 23:40:36.645] [info] Accepted new action goal ×2 | ||||
| − skipped | — | execute_mtc_solution_jtc.xml | 0.0s | 3 warnings · 332 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1794440430.43010974 seconds ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.03sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 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: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.04sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.04sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.04sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 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_nodenode_substitutions: [] ×10 + 0.56sINFOobjective_server_node ×10 + 0.62sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1794440431.04746437 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.68sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1794440431.10762691 seconds ×3 + 1.16sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 1.33sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.40sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1794440431.83139277 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.42sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1794440431.85153341 seconds ×3 + 1.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 1.96sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.02sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1794440432.44589996 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1794440432.59641027 seconds ×3 + 2.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 2.80sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1794440433.28790212 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.87sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 2.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.88sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.442176 ms (missed cycles : 3). + 2.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.442176 ms (missed cycles : 3).[0m ×2 + 2.91sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1794440433.33804584 seconds ×3 + 3.44sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 3.44sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.56sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1794440433.99011874 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.57sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.57sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.57sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.57sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.57sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.57sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.57sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.68sINFOobjective_server_nodeFound path in 0 iterations (2.9615e-05 s). ×2 + 3.68sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.70sINFOros2_control_node[2026-11-11 23:40:34.126] [info] Received new action goal ×2 + 3.70sINFOros2_control_node[2026-11-11 23:40:34.126] [info] Accepted new action goal ×2 + 6.09sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.19sINFOobjective_server_nodeFound path in 0 iterations (3.53e-07 s). ×2 + 6.20sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.22sINFOros2_control_node[2026-11-11 23:40:36.645] [info] Received new action goal ×2 + 6.22sINFOros2_control_node[2026-11-11 23:40:36.645] [info] Accepted new action goal ×2 | ||||
| − skipped | — | interpolate_to_joint_state.xml | 0.0s | 3 warnings · 332 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1794440430.43010974 seconds ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.03sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 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: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.04sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.04sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.04sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 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_nodenode_substitutions: [] ×10 + 0.56sINFOobjective_server_node ×10 + 0.62sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1794440431.04746437 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.68sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1794440431.10762691 seconds ×3 + 1.16sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 1.33sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.40sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1794440431.83139277 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.42sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1794440431.85153341 seconds ×3 + 1.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 1.96sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.02sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1794440432.44589996 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1794440432.59641027 seconds ×3 + 2.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 2.80sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1794440433.28790212 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.87sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 2.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.88sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.442176 ms (missed cycles : 3). + 2.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.442176 ms (missed cycles : 3).[0m ×2 + 2.91sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1794440433.33804584 seconds ×3 + 3.44sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 3.44sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.56sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1794440433.99011874 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.57sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.57sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.57sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.57sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.57sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.57sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.57sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.68sINFOobjective_server_nodeFound path in 0 iterations (2.9615e-05 s). ×2 + 3.68sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.70sINFOros2_control_node[2026-11-11 23:40:34.126] [info] Received new action goal ×2 + 3.70sINFOros2_control_node[2026-11-11 23:40:34.126] [info] Accepted new action goal ×2 + 6.09sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.19sINFOobjective_server_nodeFound path in 0 iterations (3.53e-07 s). ×2 + 6.20sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.22sINFOros2_control_node[2026-11-11 23:40:36.645] [info] Received new action goal ×2 + 6.22sINFOros2_control_node[2026-11-11 23:40:36.645] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_cartesian_pose.xml | 0.0s | 3 warnings · 332 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1794440430.43010974 seconds ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.03sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 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: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.04sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.04sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.04sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 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_nodenode_substitutions: [] ×10 + 0.56sINFOobjective_server_node ×10 + 0.62sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1794440431.04746437 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.68sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1794440431.10762691 seconds ×3 + 1.16sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 1.33sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.40sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1794440431.83139277 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.42sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1794440431.85153341 seconds ×3 + 1.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 1.96sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.02sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1794440432.44589996 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1794440432.59641027 seconds ×3 + 2.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 2.80sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1794440433.28790212 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.87sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 2.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.88sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.442176 ms (missed cycles : 3). + 2.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.442176 ms (missed cycles : 3).[0m ×2 + 2.91sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1794440433.33804584 seconds ×3 + 3.44sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 3.44sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.56sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1794440433.99011874 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.57sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.57sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.57sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.57sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.57sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.57sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.57sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.68sINFOobjective_server_nodeFound path in 0 iterations (2.9615e-05 s). ×2 + 3.68sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.70sINFOros2_control_node[2026-11-11 23:40:34.126] [info] Received new action goal ×2 + 3.70sINFOros2_control_node[2026-11-11 23:40:34.126] [info] Accepted new action goal ×2 + 6.09sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.19sINFOobjective_server_nodeFound path in 0 iterations (3.53e-07 s). ×2 + 6.20sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.22sINFOros2_control_node[2026-11-11 23:40:36.645] [info] Received new action goal ×2 + 6.22sINFOros2_control_node[2026-11-11 23:40:36.645] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_cartesian_pose_jtc.xml | 0.0s | 3 warnings · 332 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1794440430.43010974 seconds ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.03sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 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: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.04sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.04sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.04sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 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_nodenode_substitutions: [] ×10 + 0.56sINFOobjective_server_node ×10 + 0.62sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1794440431.04746437 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.68sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1794440431.10762691 seconds ×3 + 1.16sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 1.33sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.40sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1794440431.83139277 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.42sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1794440431.85153341 seconds ×3 + 1.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 1.96sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.02sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1794440432.44589996 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1794440432.59641027 seconds ×3 + 2.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 2.80sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1794440433.28790212 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.87sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 2.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.88sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.442176 ms (missed cycles : 3). + 2.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.442176 ms (missed cycles : 3).[0m ×2 + 2.91sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1794440433.33804584 seconds ×3 + 3.44sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 3.44sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.56sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1794440433.99011874 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.57sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.57sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.57sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.57sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.57sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.57sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.57sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.68sINFOobjective_server_nodeFound path in 0 iterations (2.9615e-05 s). ×2 + 3.68sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.70sINFOros2_control_node[2026-11-11 23:40:34.126] [info] Received new action goal ×2 + 3.70sINFOros2_control_node[2026-11-11 23:40:34.126] [info] Accepted new action goal ×2 + 6.09sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.19sINFOobjective_server_nodeFound path in 0 iterations (3.53e-07 s). ×2 + 6.20sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.22sINFOros2_control_node[2026-11-11 23:40:36.645] [info] Received new action goal ×2 + 6.22sINFOros2_control_node[2026-11-11 23:40:36.645] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_joint_state.xml | 0.0s | 3 warnings · 332 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1794440430.43010974 seconds ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.03sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 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: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.04sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.04sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.04sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 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_nodenode_substitutions: [] ×10 + 0.56sINFOobjective_server_node ×10 + 0.62sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1794440431.04746437 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.68sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1794440431.10762691 seconds ×3 + 1.16sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 1.33sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.40sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1794440431.83139277 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.42sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1794440431.85153341 seconds ×3 + 1.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 1.96sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.02sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1794440432.44589996 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1794440432.59641027 seconds ×3 + 2.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 2.80sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1794440433.28790212 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.87sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 2.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.88sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.442176 ms (missed cycles : 3). + 2.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.442176 ms (missed cycles : 3).[0m ×2 + 2.91sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1794440433.33804584 seconds ×3 + 3.44sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 3.44sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.56sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1794440433.99011874 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.57sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.57sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.57sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.57sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.57sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.57sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.57sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.68sINFOobjective_server_nodeFound path in 0 iterations (2.9615e-05 s). ×2 + 3.68sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.70sINFOros2_control_node[2026-11-11 23:40:34.126] [info] Received new action goal ×2 + 3.70sINFOros2_control_node[2026-11-11 23:40:34.126] [info] Accepted new action goal ×2 + 6.09sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.19sINFOobjective_server_nodeFound path in 0 iterations (3.53e-07 s). ×2 + 6.20sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.22sINFOros2_control_node[2026-11-11 23:40:36.645] [info] Received new action goal ×2 + 6.22sINFOros2_control_node[2026-11-11 23:40:36.645] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_named_waypoint.xml | 0.0s | 3 warnings · 332 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1794440430.43010974 seconds ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.03sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 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: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.04sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.04sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.04sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 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_nodenode_substitutions: [] ×10 + 0.56sINFOobjective_server_node ×10 + 0.62sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1794440431.04746437 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.68sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1794440431.10762691 seconds ×3 + 1.16sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 1.33sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.40sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1794440431.83139277 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.42sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1794440431.85153341 seconds ×3 + 1.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 1.96sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.02sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1794440432.44589996 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1794440432.59641027 seconds ×3 + 2.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 2.80sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1794440433.28790212 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.87sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 2.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.88sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.442176 ms (missed cycles : 3). + 2.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.442176 ms (missed cycles : 3).[0m ×2 + 2.91sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1794440433.33804584 seconds ×3 + 3.44sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 3.44sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.56sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1794440433.99011874 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.57sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.57sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.57sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.57sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.57sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.57sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.57sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.68sINFOobjective_server_nodeFound path in 0 iterations (2.9615e-05 s). ×2 + 3.68sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.70sINFOros2_control_node[2026-11-11 23:40:34.126] [info] Received new action goal ×2 + 3.70sINFOros2_control_node[2026-11-11 23:40:34.126] [info] Accepted new action goal ×2 + 6.09sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.19sINFOobjective_server_nodeFound path in 0 iterations (3.53e-07 s). ×2 + 6.20sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.22sINFOros2_control_node[2026-11-11 23:40:36.645] [info] Received new action goal ×2 + 6.22sINFOros2_control_node[2026-11-11 23:40:36.645] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_named_waypoint_jtc.xml | 0.0s | 3 warnings · 332 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1794440430.43010974 seconds ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.03sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 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: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.04sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.04sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.04sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 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_nodenode_substitutions: [] ×10 + 0.56sINFOobjective_server_node ×10 + 0.62sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1794440431.04746437 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.68sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1794440431.10762691 seconds ×3 + 1.16sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 1.33sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.40sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1794440431.83139277 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.42sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1794440431.85153341 seconds ×3 + 1.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 1.96sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.02sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1794440432.44589996 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1794440432.59641027 seconds ×3 + 2.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 2.80sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1794440433.28790212 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.87sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 2.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.88sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.442176 ms (missed cycles : 3). + 2.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.442176 ms (missed cycles : 3).[0m ×2 + 2.91sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1794440433.33804584 seconds ×3 + 3.44sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 3.44sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.56sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1794440433.99011874 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.57sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.57sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.57sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.57sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.57sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.57sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.57sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.68sINFOobjective_server_nodeFound path in 0 iterations (2.9615e-05 s). ×2 + 3.68sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.70sINFOros2_control_node[2026-11-11 23:40:34.126] [info] Received new action goal ×2 + 3.70sINFOros2_control_node[2026-11-11 23:40:34.126] [info] Accepted new action goal ×2 + 6.09sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.19sINFOobjective_server_nodeFound path in 0 iterations (3.53e-07 s). ×2 + 6.20sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.22sINFOros2_control_node[2026-11-11 23:40:36.645] [info] Received new action goal ×2 + 6.22sINFOros2_control_node[2026-11-11 23:40:36.645] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_pose.xml | 0.0s | 3 warnings · 332 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1794440430.43010974 seconds ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.03sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 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: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.04sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.04sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.04sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 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_nodenode_substitutions: [] ×10 + 0.56sINFOobjective_server_node ×10 + 0.62sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1794440431.04746437 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.68sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1794440431.10762691 seconds ×3 + 1.16sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 1.33sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.40sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1794440431.83139277 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.42sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1794440431.85153341 seconds ×3 + 1.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 1.96sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.02sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1794440432.44589996 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1794440432.59641027 seconds ×3 + 2.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 2.80sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1794440433.28790212 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.87sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 2.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.88sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.442176 ms (missed cycles : 3). + 2.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.442176 ms (missed cycles : 3).[0m ×2 + 2.91sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1794440433.33804584 seconds ×3 + 3.44sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 3.44sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.56sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1794440433.99011874 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.57sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.57sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.57sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.57sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.57sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.57sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.57sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.68sINFOobjective_server_nodeFound path in 0 iterations (2.9615e-05 s). ×2 + 3.68sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.70sINFOros2_control_node[2026-11-11 23:40:34.126] [info] Received new action goal ×2 + 3.70sINFOros2_control_node[2026-11-11 23:40:34.126] [info] Accepted new action goal ×2 + 6.09sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.19sINFOobjective_server_nodeFound path in 0 iterations (3.53e-07 s). ×2 + 6.20sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.22sINFOros2_control_node[2026-11-11 23:40:36.645] [info] Received new action goal ×2 + 6.22sINFOros2_control_node[2026-11-11 23:40:36.645] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_pose_jtc.xml | 0.0s | 3 warnings · 332 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1794440430.43010974 seconds ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.03sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 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: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.04sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.04sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.04sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 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_nodenode_substitutions: [] ×10 + 0.56sINFOobjective_server_node ×10 + 0.62sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1794440431.04746437 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.68sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1794440431.10762691 seconds ×3 + 1.16sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 1.33sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.40sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1794440431.83139277 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.42sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1794440431.85153341 seconds ×3 + 1.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 1.96sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.02sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1794440432.44589996 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1794440432.59641027 seconds ×3 + 2.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 2.80sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1794440433.28790212 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.87sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 2.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.88sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.442176 ms (missed cycles : 3). + 2.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.442176 ms (missed cycles : 3).[0m ×2 + 2.91sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1794440433.33804584 seconds ×3 + 3.44sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 3.44sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.56sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1794440433.99011874 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.57sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.57sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.57sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.57sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.57sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.57sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.57sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.68sINFOobjective_server_nodeFound path in 0 iterations (2.9615e-05 s). ×2 + 3.68sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.70sINFOros2_control_node[2026-11-11 23:40:34.126] [info] Received new action goal ×2 + 3.70sINFOros2_control_node[2026-11-11 23:40:34.126] [info] Accepted new action goal ×2 + 6.09sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.19sINFOobjective_server_nodeFound path in 0 iterations (3.53e-07 s). ×2 + 6.20sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.22sINFOros2_control_node[2026-11-11 23:40:36.645] [info] Received new action goal ×2 + 6.22sINFOros2_control_node[2026-11-11 23:40:36.645] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_waypoint.xml | 0.0s | 3 warnings · 332 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1794440430.43010974 seconds ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.03sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 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: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.04sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.04sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.04sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 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_nodenode_substitutions: [] ×10 + 0.56sINFOobjective_server_node ×10 + 0.62sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1794440431.04746437 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.68sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1794440431.10762691 seconds ×3 + 1.16sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 1.33sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.40sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1794440431.83139277 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.42sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1794440431.85153341 seconds ×3 + 1.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 1.96sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.02sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1794440432.44589996 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1794440432.59641027 seconds ×3 + 2.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 2.80sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1794440433.28790212 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.87sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 2.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.88sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.442176 ms (missed cycles : 3). + 2.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.442176 ms (missed cycles : 3).[0m ×2 + 2.91sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1794440433.33804584 seconds ×3 + 3.44sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 3.44sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.56sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1794440433.99011874 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.57sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.57sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.57sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.57sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.57sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.57sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.57sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.68sINFOobjective_server_nodeFound path in 0 iterations (2.9615e-05 s). ×2 + 3.68sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.70sINFOros2_control_node[2026-11-11 23:40:34.126] [info] Received new action goal ×2 + 3.70sINFOros2_control_node[2026-11-11 23:40:34.126] [info] Accepted new action goal ×2 + 6.09sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.19sINFOobjective_server_nodeFound path in 0 iterations (3.53e-07 s). ×2 + 6.20sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.22sINFOros2_control_node[2026-11-11 23:40:36.645] [info] Received new action goal ×2 + 6.22sINFOros2_control_node[2026-11-11 23:40:36.645] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_waypoint_jtc.xml | 0.0s | 3 warnings · 332 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1794440430.43010974 seconds ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.03sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 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: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.04sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.04sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.04sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 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_nodenode_substitutions: [] ×10 + 0.56sINFOobjective_server_node ×10 + 0.62sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1794440431.04746437 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.68sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1794440431.10762691 seconds ×3 + 1.16sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 1.33sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.40sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1794440431.83139277 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.42sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1794440431.85153341 seconds ×3 + 1.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 1.96sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.02sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1794440432.44589996 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1794440432.59641027 seconds ×3 + 2.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 2.80sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1794440433.28790212 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.87sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 2.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.88sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.442176 ms (missed cycles : 3). + 2.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.442176 ms (missed cycles : 3).[0m ×2 + 2.91sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1794440433.33804584 seconds ×3 + 3.44sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 3.44sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.56sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1794440433.99011874 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.57sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.57sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.57sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.57sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.57sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.57sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.57sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.68sINFOobjective_server_nodeFound path in 0 iterations (2.9615e-05 s). ×2 + 3.68sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.70sINFOros2_control_node[2026-11-11 23:40:34.126] [info] Received new action goal ×2 + 3.70sINFOros2_control_node[2026-11-11 23:40:34.126] [info] Accepted new action goal ×2 + 6.09sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.19sINFOobjective_server_nodeFound path in 0 iterations (3.53e-07 s). ×2 + 6.20sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.22sINFOros2_control_node[2026-11-11 23:40:36.645] [info] Received new action goal ×2 + 6.22sINFOros2_control_node[2026-11-11 23:40:36.645] [info] Accepted new action goal ×2 | ||||
| − skipped | — | plan_path_with_mtc.xml | 0.0s | 3 warnings · 332 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1794440430.43010974 seconds ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.03sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 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: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.04sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.04sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.04sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 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_nodenode_substitutions: [] ×10 + 0.56sINFOobjective_server_node ×10 + 0.62sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1794440431.04746437 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.68sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1794440431.10762691 seconds ×3 + 1.16sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 1.33sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.40sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1794440431.83139277 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.42sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1794440431.85153341 seconds ×3 + 1.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 1.96sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.02sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1794440432.44589996 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1794440432.59641027 seconds ×3 + 2.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 2.80sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1794440433.28790212 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.87sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 2.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.88sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.442176 ms (missed cycles : 3). + 2.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.442176 ms (missed cycles : 3).[0m ×2 + 2.91sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1794440433.33804584 seconds ×3 + 3.44sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 3.44sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.56sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1794440433.99011874 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.57sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.57sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.57sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.57sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.57sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.57sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.57sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.68sINFOobjective_server_nodeFound path in 0 iterations (2.9615e-05 s). ×2 + 3.68sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.70sINFOros2_control_node[2026-11-11 23:40:34.126] [info] Received new action goal ×2 + 3.70sINFOros2_control_node[2026-11-11 23:40:34.126] [info] Accepted new action goal ×2 + 6.09sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.19sINFOobjective_server_nodeFound path in 0 iterations (3.53e-07 s). ×2 + 6.20sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.22sINFOros2_control_node[2026-11-11 23:40:36.645] [info] Received new action goal ×2 + 6.22sINFOros2_control_node[2026-11-11 23:40:36.645] [info] Accepted new action goal ×2 | ||||
| − skipped | — | record_teleop_trajectory.xml | 0.0s | 3 warnings · 332 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1794440430.43010974 seconds ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.03sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 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: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.04sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.04sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.04sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 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_nodenode_substitutions: [] ×10 + 0.56sINFOobjective_server_node ×10 + 0.62sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1794440431.04746437 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.68sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1794440431.10762691 seconds ×3 + 1.16sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 1.33sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.40sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1794440431.83139277 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.42sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1794440431.85153341 seconds ×3 + 1.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 1.96sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.02sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1794440432.44589996 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1794440432.59641027 seconds ×3 + 2.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 2.80sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1794440433.28790212 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.87sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 2.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.88sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.442176 ms (missed cycles : 3). + 2.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.442176 ms (missed cycles : 3).[0m ×2 + 2.91sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1794440433.33804584 seconds ×3 + 3.44sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 3.44sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.56sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1794440433.99011874 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.57sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.57sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.57sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.57sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.57sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.57sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.57sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.68sINFOobjective_server_nodeFound path in 0 iterations (2.9615e-05 s). ×2 + 3.68sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.70sINFOros2_control_node[2026-11-11 23:40:34.126] [info] Received new action goal ×2 + 3.70sINFOros2_control_node[2026-11-11 23:40:34.126] [info] Accepted new action goal ×2 + 6.09sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.19sINFOobjective_server_nodeFound path in 0 iterations (3.53e-07 s). ×2 + 6.20sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.22sINFOros2_control_node[2026-11-11 23:40:36.645] [info] Received new action goal ×2 + 6.22sINFOros2_control_node[2026-11-11 23:40:36.645] [info] Accepted new action goal ×2 | ||||
| − skipped | — | track_moving_frame.xml | 0.0s | 3 warnings · 332 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1794440430.43010974 seconds ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.03sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 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: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.04sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.04sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.04sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 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_nodenode_substitutions: [] ×10 + 0.56sINFOobjective_server_node ×10 + 0.62sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1794440431.04746437 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.68sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1794440431.10762691 seconds ×3 + 1.16sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 1.33sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.40sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1794440431.83139277 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.42sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1794440431.85153341 seconds ×3 + 1.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 1.96sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.02sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1794440432.44589996 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1794440432.59641027 seconds ×3 + 2.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 2.80sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1794440433.28790212 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.87sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 2.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.88sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.442176 ms (missed cycles : 3). + 2.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.442176 ms (missed cycles : 3).[0m ×2 + 2.91sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1794440433.33804584 seconds ×3 + 3.44sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 3.44sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.56sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1794440433.99011874 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.57sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.57sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.57sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.57sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.57sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.57sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.57sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.68sINFOobjective_server_nodeFound path in 0 iterations (2.9615e-05 s). ×2 + 3.68sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.70sINFOros2_control_node[2026-11-11 23:40:34.126] [info] Received new action goal ×2 + 3.70sINFOros2_control_node[2026-11-11 23:40:34.126] [info] Accepted new action goal ×2 + 6.09sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.19sINFOobjective_server_nodeFound path in 0 iterations (3.53e-07 s). ×2 + 6.20sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.22sINFOros2_control_node[2026-11-11 23:40:36.645] [info] Received new action goal ×2 + 6.22sINFOros2_control_node[2026-11-11 23:40:36.645] [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 · 332 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1794440430.43010974 seconds ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.03sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 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: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.04sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.04sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.04sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 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_nodenode_substitutions: [] ×10 + 0.56sINFOobjective_server_node ×10 + 0.62sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1794440431.04746437 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.68sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1794440431.10762691 seconds ×3 + 1.16sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 1.33sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.40sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1794440431.83139277 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.42sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1794440431.85153341 seconds ×3 + 1.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 1.96sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.02sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1794440432.44589996 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1794440432.59641027 seconds ×3 + 2.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 2.80sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1794440433.28790212 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.87sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 2.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.88sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.442176 ms (missed cycles : 3). + 2.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.442176 ms (missed cycles : 3).[0m ×2 + 2.91sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1794440433.33804584 seconds ×3 + 3.44sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 3.44sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.56sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1794440433.99011874 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.57sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.57sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.57sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.57sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.57sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.57sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.57sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.68sINFOobjective_server_nodeFound path in 0 iterations (2.9615e-05 s). ×2 + 3.68sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.70sINFOros2_control_node[2026-11-11 23:40:34.126] [info] Received new action goal ×2 + 3.70sINFOros2_control_node[2026-11-11 23:40:34.126] [info] Accepted new action goal ×2 + 6.09sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.19sINFOobjective_server_nodeFound path in 0 iterations (3.53e-07 s). ×2 + 6.20sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.22sINFOros2_control_node[2026-11-11 23:40:36.645] [info] Received new action goal ×2 + 6.22sINFOros2_control_node[2026-11-11 23:40:36.645] [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 · 332 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1794440430.43010974 seconds ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.03sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 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: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.04sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.04sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.04sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 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_nodenode_substitutions: [] ×10 + 0.56sINFOobjective_server_node ×10 + 0.62sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1794440431.04746437 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.68sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1794440431.10762691 seconds ×3 + 1.16sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 1.33sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.40sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1794440431.83139277 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.42sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1794440431.85153341 seconds ×3 + 1.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 1.96sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.02sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1794440432.44589996 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1794440432.59641027 seconds ×3 + 2.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 2.80sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1794440433.28790212 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.87sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 2.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.88sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.442176 ms (missed cycles : 3). + 2.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.442176 ms (missed cycles : 3).[0m ×2 + 2.91sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1794440433.33804584 seconds ×3 + 3.44sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 3.44sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.56sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1794440433.99011874 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.57sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.57sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.57sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.57sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.57sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.57sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.57sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.68sINFOobjective_server_nodeFound path in 0 iterations (2.9615e-05 s). ×2 + 3.68sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.70sINFOros2_control_node[2026-11-11 23:40:34.126] [info] Received new action goal ×2 + 3.70sINFOros2_control_node[2026-11-11 23:40:34.126] [info] Accepted new action goal ×2 + 6.09sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.19sINFOobjective_server_nodeFound path in 0 iterations (3.53e-07 s). ×2 + 6.20sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.22sINFOros2_control_node[2026-11-11 23:40:36.645] [info] Received new action goal ×2 + 6.22sINFOros2_control_node[2026-11-11 23:40:36.645] [info] Accepted new action goal ×2 | ||||
| − skipped | — | calibrate_eye_in_hand_camera.xml | 0.0s | 3 warnings · 332 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1794440430.43010974 seconds ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.03sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 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: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.04sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.04sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.04sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 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_nodenode_substitutions: [] ×10 + 0.56sINFOobjective_server_node ×10 + 0.62sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1794440431.04746437 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.68sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1794440431.10762691 seconds ×3 + 1.16sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 1.33sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.40sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1794440431.83139277 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.42sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1794440431.85153341 seconds ×3 + 1.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 1.96sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.02sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1794440432.44589996 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1794440432.59641027 seconds ×3 + 2.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 2.80sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1794440433.28790212 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.87sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 2.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.88sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.442176 ms (missed cycles : 3). + 2.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.442176 ms (missed cycles : 3).[0m ×2 + 2.91sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1794440433.33804584 seconds ×3 + 3.44sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 3.44sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.56sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1794440433.99011874 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.57sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.57sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.57sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.57sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.57sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.57sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.57sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.68sINFOobjective_server_nodeFound path in 0 iterations (2.9615e-05 s). ×2 + 3.68sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.70sINFOros2_control_node[2026-11-11 23:40:34.126] [info] Received new action goal ×2 + 3.70sINFOros2_control_node[2026-11-11 23:40:34.126] [info] Accepted new action goal ×2 + 6.09sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.19sINFOobjective_server_nodeFound path in 0 iterations (3.53e-07 s). ×2 + 6.20sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.22sINFOros2_control_node[2026-11-11 23:40:36.645] [info] Received new action goal ×2 + 6.22sINFOros2_control_node[2026-11-11 23:40:36.645] [info] Accepted new action goal ×2 | ||||
| − skipped | — | calibrate_eye_to_hand_camera.xml | 0.0s | 3 warnings · 332 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1794440430.43010974 seconds ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.03sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 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: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.04sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.04sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.04sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 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_nodenode_substitutions: [] ×10 + 0.56sINFOobjective_server_node ×10 + 0.62sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1794440431.04746437 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.68sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1794440431.10762691 seconds ×3 + 1.16sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 1.33sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.40sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1794440431.83139277 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.42sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1794440431.85153341 seconds ×3 + 1.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 1.96sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.02sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1794440432.44589996 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1794440432.59641027 seconds ×3 + 2.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 2.80sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1794440433.28790212 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.87sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 2.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.88sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.442176 ms (missed cycles : 3). + 2.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.442176 ms (missed cycles : 3).[0m ×2 + 2.91sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1794440433.33804584 seconds ×3 + 3.44sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 3.44sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.56sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1794440433.99011874 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.57sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.57sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.57sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.57sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.57sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.57sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.57sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.68sINFOobjective_server_nodeFound path in 0 iterations (2.9615e-05 s). ×2 + 3.68sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.70sINFOros2_control_node[2026-11-11 23:40:34.126] [info] Received new action goal ×2 + 3.70sINFOros2_control_node[2026-11-11 23:40:34.126] [info] Accepted new action goal ×2 + 6.09sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.19sINFOobjective_server_nodeFound path in 0 iterations (3.53e-07 s). ×2 + 6.20sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.22sINFOros2_control_node[2026-11-11 23:40:36.645] [info] Received new action goal ×2 + 6.22sINFOros2_control_node[2026-11-11 23:40:36.645] [info] Accepted new action goal ×2 | ||||
| − skipped | — | capture_calibration_sample.xml | 0.0s | 3 warnings · 332 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1794440430.43010974 seconds ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.03sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 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: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.04sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.04sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.04sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 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_nodenode_substitutions: [] ×10 + 0.56sINFOobjective_server_node ×10 + 0.62sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1794440431.04746437 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.68sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1794440431.10762691 seconds ×3 + 1.16sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 1.33sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.40sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1794440431.83139277 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.42sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1794440431.85153341 seconds ×3 + 1.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 1.96sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.02sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1794440432.44589996 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1794440432.59641027 seconds ×3 + 2.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 2.80sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1794440433.28790212 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.87sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 2.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.88sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.442176 ms (missed cycles : 3). + 2.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.442176 ms (missed cycles : 3).[0m ×2 + 2.91sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1794440433.33804584 seconds ×3 + 3.44sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 3.44sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.56sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1794440433.99011874 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.57sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.57sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.57sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.57sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.57sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.57sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.57sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.68sINFOobjective_server_nodeFound path in 0 iterations (2.9615e-05 s). ×2 + 3.68sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.70sINFOros2_control_node[2026-11-11 23:40:34.126] [info] Received new action goal ×2 + 3.70sINFOros2_control_node[2026-11-11 23:40:34.126] [info] Accepted new action goal ×2 + 6.09sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.19sINFOobjective_server_nodeFound path in 0 iterations (3.53e-07 s). ×2 + 6.20sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.22sINFOros2_control_node[2026-11-11 23:40:36.645] [info] Received new action goal ×2 + 6.22sINFOros2_control_node[2026-11-11 23:40:36.645] [info] Accepted new action goal ×2 | ||||
| − skipped | — | capture_camera_point_cloud.xml | 0.0s | 3 warnings · 332 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1794440430.43010974 seconds ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.03sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 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: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.04sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.04sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.04sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 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_nodenode_substitutions: [] ×10 + 0.56sINFOobjective_server_node ×10 + 0.62sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1794440431.04746437 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.68sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1794440431.10762691 seconds ×3 + 1.16sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 1.33sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.40sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1794440431.83139277 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.42sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1794440431.85153341 seconds ×3 + 1.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 1.96sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.02sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1794440432.44589996 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1794440432.59641027 seconds ×3 + 2.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 2.80sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1794440433.28790212 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.87sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 2.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.88sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.442176 ms (missed cycles : 3). + 2.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.442176 ms (missed cycles : 3).[0m ×2 + 2.91sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1794440433.33804584 seconds ×3 + 3.44sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 3.44sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.56sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1794440433.99011874 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.57sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.57sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.57sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.57sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.57sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.57sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.57sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.68sINFOobjective_server_nodeFound path in 0 iterations (2.9615e-05 s). ×2 + 3.68sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.70sINFOros2_control_node[2026-11-11 23:40:34.126] [info] Received new action goal ×2 + 3.70sINFOros2_control_node[2026-11-11 23:40:34.126] [info] Accepted new action goal ×2 + 6.09sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.19sINFOobjective_server_nodeFound path in 0 iterations (3.53e-07 s). ×2 + 6.20sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.22sINFOros2_control_node[2026-11-11 23:40:36.645] [info] Received new action goal ×2 + 6.22sINFOros2_control_node[2026-11-11 23:40:36.645] [info] Accepted new action goal ×2 | ||||
| − skipped | — | collect_calibration_samples.xml | 0.0s | 3 warnings · 332 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1794440430.43010974 seconds ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.03sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 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: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.04sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.04sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.04sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 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_nodenode_substitutions: [] ×10 + 0.56sINFOobjective_server_node ×10 + 0.62sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1794440431.04746437 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.68sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1794440431.10762691 seconds ×3 + 1.16sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 1.33sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.40sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1794440431.83139277 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.42sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1794440431.85153341 seconds ×3 + 1.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 1.96sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.02sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1794440432.44589996 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1794440432.59641027 seconds ×3 + 2.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 2.80sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1794440433.28790212 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.87sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 2.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.88sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.442176 ms (missed cycles : 3). + 2.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.442176 ms (missed cycles : 3).[0m ×2 + 2.91sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1794440433.33804584 seconds ×3 + 3.44sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 3.44sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.56sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1794440433.99011874 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.57sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.57sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.57sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.57sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.57sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.57sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.57sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.68sINFOobjective_server_nodeFound path in 0 iterations (2.9615e-05 s). ×2 + 3.68sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.70sINFOros2_control_node[2026-11-11 23:40:34.126] [info] Received new action goal ×2 + 3.70sINFOros2_control_node[2026-11-11 23:40:34.126] [info] Accepted new action goal ×2 + 6.09sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.19sINFOobjective_server_nodeFound path in 0 iterations (3.53e-07 s). ×2 + 6.20sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.22sINFOros2_control_node[2026-11-11 23:40:36.645] [info] Received new action goal ×2 + 6.22sINFOros2_control_node[2026-11-11 23:40:36.645] [info] Accepted new action goal ×2 | ||||
| − skipped | — | generate_calibration_waypoints.xml | 0.0s | 3 warnings · 332 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1794440430.43010974 seconds ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.03sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 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: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.04sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.04sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.04sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 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_nodenode_substitutions: [] ×10 + 0.56sINFOobjective_server_node ×10 + 0.62sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1794440431.04746437 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.68sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1794440431.10762691 seconds ×3 + 1.16sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 1.33sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.40sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1794440431.83139277 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.42sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1794440431.85153341 seconds ×3 + 1.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 1.96sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.02sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1794440432.44589996 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1794440432.59641027 seconds ×3 + 2.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 2.80sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1794440433.28790212 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.87sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 2.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.88sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.442176 ms (missed cycles : 3). + 2.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.442176 ms (missed cycles : 3).[0m ×2 + 2.91sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1794440433.33804584 seconds ×3 + 3.44sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 3.44sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.56sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1794440433.99011874 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.57sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.57sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.57sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.57sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.57sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.57sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.57sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.68sINFOobjective_server_nodeFound path in 0 iterations (2.9615e-05 s). ×2 + 3.68sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.70sINFOros2_control_node[2026-11-11 23:40:34.126] [info] Received new action goal ×2 + 3.70sINFOros2_control_node[2026-11-11 23:40:34.126] [info] Accepted new action goal ×2 + 6.09sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.19sINFOobjective_server_nodeFound path in 0 iterations (3.53e-07 s). ×2 + 6.20sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.22sINFOros2_control_node[2026-11-11 23:40:36.645] [info] Received new action goal ×2 + 6.22sINFOros2_control_node[2026-11-11 23:40:36.645] [info] Accepted new action goal ×2 | ||||
| − skipped | — | get_imarker_pose_from_mesh_visualization.xml | 0.0s | 3 warnings · 332 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1794440430.43010974 seconds ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.03sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 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: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.04sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.04sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.04sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 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_nodenode_substitutions: [] ×10 + 0.56sINFOobjective_server_node ×10 + 0.62sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1794440431.04746437 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.68sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1794440431.10762691 seconds ×3 + 1.16sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 1.33sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.40sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1794440431.83139277 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.42sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1794440431.85153341 seconds ×3 + 1.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 1.96sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.02sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1794440432.44589996 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1794440432.59641027 seconds ×3 + 2.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 2.80sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1794440433.28790212 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.87sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 2.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.88sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.442176 ms (missed cycles : 3). + 2.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.442176 ms (missed cycles : 3).[0m ×2 + 2.91sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1794440433.33804584 seconds ×3 + 3.44sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 3.44sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.56sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1794440433.99011874 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.57sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.57sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.57sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.57sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.57sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.57sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.57sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.68sINFOobjective_server_nodeFound path in 0 iterations (2.9615e-05 s). ×2 + 3.68sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.70sINFOros2_control_node[2026-11-11 23:40:34.126] [info] Received new action goal ×2 + 3.70sINFOros2_control_node[2026-11-11 23:40:34.126] [info] Accepted new action goal ×2 + 6.09sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.19sINFOobjective_server_nodeFound path in 0 iterations (3.53e-07 s). ×2 + 6.20sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.22sINFOros2_control_node[2026-11-11 23:40:36.645] [info] Received new action goal ×2 + 6.22sINFOros2_control_node[2026-11-11 23:40:36.645] [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 · 332 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1794440430.43010974 seconds ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.03sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 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: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.04sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.04sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.04sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 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_nodenode_substitutions: [] ×10 + 0.56sINFOobjective_server_node ×10 + 0.62sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1794440431.04746437 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.68sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1794440431.10762691 seconds ×3 + 1.16sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 1.33sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.40sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1794440431.83139277 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.42sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1794440431.85153341 seconds ×3 + 1.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 1.96sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.02sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1794440432.44589996 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1794440432.59641027 seconds ×3 + 2.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 2.80sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1794440433.28790212 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.87sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 2.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.88sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.442176 ms (missed cycles : 3). + 2.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.442176 ms (missed cycles : 3).[0m ×2 + 2.91sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1794440433.33804584 seconds ×3 + 3.44sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 3.44sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.56sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1794440433.99011874 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.57sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.57sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.57sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.57sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.57sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.57sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.57sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.68sINFOobjective_server_nodeFound path in 0 iterations (2.9615e-05 s). ×2 + 3.68sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.70sINFOros2_control_node[2026-11-11 23:40:34.126] [info] Received new action goal ×2 + 3.70sINFOros2_control_node[2026-11-11 23:40:34.126] [info] Accepted new action goal ×2 + 6.09sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.19sINFOobjective_server_nodeFound path in 0 iterations (3.53e-07 s). ×2 + 6.20sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.22sINFOros2_control_node[2026-11-11 23:40:36.645] [info] Received new action goal ×2 + 6.22sINFOros2_control_node[2026-11-11 23:40:36.645] [info] Accepted new action goal ×2 | ||||
| − skipped | — | interactive_marker_visualization_example.xml | 0.0s | 3 warnings · 332 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1794440430.43010974 seconds ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.03sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 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: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.04sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.04sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.04sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 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_nodenode_substitutions: [] ×10 + 0.56sINFOobjective_server_node ×10 + 0.62sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1794440431.04746437 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.68sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1794440431.10762691 seconds ×3 + 1.16sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 1.33sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.40sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1794440431.83139277 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.42sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1794440431.85153341 seconds ×3 + 1.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 1.96sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.02sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1794440432.44589996 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1794440432.59641027 seconds ×3 + 2.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 2.80sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1794440433.28790212 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.87sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 2.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.88sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.442176 ms (missed cycles : 3). + 2.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.442176 ms (missed cycles : 3).[0m ×2 + 2.91sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1794440433.33804584 seconds ×3 + 3.44sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 3.44sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.56sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1794440433.99011874 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.57sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.57sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.57sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.57sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.57sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.57sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.57sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.68sINFOobjective_server_nodeFound path in 0 iterations (2.9615e-05 s). ×2 + 3.68sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.70sINFOros2_control_node[2026-11-11 23:40:34.126] [info] Received new action goal ×2 + 3.70sINFOros2_control_node[2026-11-11 23:40:34.126] [info] Accepted new action goal ×2 + 6.09sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.19sINFOobjective_server_nodeFound path in 0 iterations (3.53e-07 s). ×2 + 6.20sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.22sINFOros2_control_node[2026-11-11 23:40:36.645] [info] Received new action goal ×2 + 6.22sINFOros2_control_node[2026-11-11 23:40:36.645] [info] Accepted new action goal ×2 | ||||
| − skipped | — | visualize_tf.xml | 0.0s | 3 warnings · 332 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1794440430.43010974 seconds ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.03sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 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: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.04sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.04sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.04sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 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_nodenode_substitutions: [] ×10 + 0.56sINFOobjective_server_node ×10 + 0.62sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1794440431.04746437 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.68sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1794440431.10762691 seconds ×3 + 1.16sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 1.33sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.40sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1794440431.83139277 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.42sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1794440431.85153341 seconds ×3 + 1.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 1.96sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.02sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1794440432.44589996 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1794440432.59641027 seconds ×3 + 2.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 2.80sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1794440433.28790212 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.87sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 2.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.88sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.442176 ms (missed cycles : 3). + 2.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.442176 ms (missed cycles : 3).[0m ×2 + 2.91sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1794440433.33804584 seconds ×3 + 3.44sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 3.44sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.56sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1794440433.99011874 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.57sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.57sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.57sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.57sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.57sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.57sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.57sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.68sINFOobjective_server_nodeFound path in 0 iterations (2.9615e-05 s). ×2 + 3.68sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.70sINFOros2_control_node[2026-11-11 23:40:34.126] [info] Received new action goal ×2 + 3.70sINFOros2_control_node[2026-11-11 23:40:34.126] [info] Accepted new action goal ×2 + 6.09sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.19sINFOobjective_server_nodeFound path in 0 iterations (3.53e-07 s). ×2 + 6.20sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.22sINFOros2_control_node[2026-11-11 23:40:36.645] [info] Received new action goal ×2 + 6.22sINFOros2_control_node[2026-11-11 23:40:36.645] [info] Accepted new action goal ×2 | ||||