116
Total objective tests
33
Objectives passed
0
Objectives failed
83
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/objectives29 pass54 skip
| ✓ passed | MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample | mpc_pose_tracking_dynamic_point_cloud_avoidance_with_sphere_down_sample.xml | 44.4s | 163 warnings · 19680 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 ×3 + 0.00sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 0.00sINFOcontroller_managerDeactivating controllers: [ velocity_force_controller ] + 0.00sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 0.00sINFOros2_control_nodeDeactivating controllers: [ velocity_force_controller ][0m ×2 + 0.00sINFOcontroller_managerDeactivated controllers: [ velocity_force_controller ] + 0.00sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 0.00sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.00sINFOros2_control_nodeDeactivated controllers: [ velocity_force_controller ][0m ×2 + 0.00sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 0.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.10sINFOobjective_server_nodeFound path in 0 iterations (4.25e-07 s). ×2 + 0.11sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 0.13sINFOros2_control_node[2026-08-13 22:12:00.427] [info] Received new action goal ×2 + 0.13sINFOros2_control_node[2026-08-13 22:12:00.428] [info] Accepted new action goal ×2 + 0.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.753313 ms (missed cycles : 4). + 0.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.753313 ms (missed cycles : 4).[0m ×2 + 1.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.589486 ms (missed cycles : 4). + 1.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.589486 ms (missed cycles : 4).[0m ×2 + 2.55sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×2 + 2.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.089855 ms (missed cycles : 2). + 2.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.089855 ms (missed cycles : 2).[0m ×2 + 3.73sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1786659124.02939272 seconds ×3 + 3.74sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.74sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.74sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.74sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.74sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.75sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.75sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.76sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.77sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.235333 ms (missed cycles : 4). + 3.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.235333 ms (missed cycles : 4).[0m ×2 + 4.34sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1786659124.64128065 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.40sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×18 + 4.53sINFOobjective_server_nodeFound path in 0 iterations (4.39e-07 s). ×2 + 4.53sINFOobjective_server_nodePath shortcutter: [X___X] ×4 + 4.54sINFOros2_control_node[2026-08-13 22:12:04.835] [info] Received new action goal ×2 + 4.54sINFOros2_control_node[2026-08-13 22:12:04.835] [info] Accepted new action goal ×2 + 4.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.222686 ms (missed cycles : 6). + 4.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.222686 ms (missed cycles : 6).[0m ×2 + 5.80sINFOobjective_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 + 5.81sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 5.86sINFOobjective_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 + 5.86sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] ×2 + 5.86sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 5.86sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×4 + 5.86sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 5.86sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 5.86sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] ×2 + 5.86sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 5.86sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×4 + 5.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.412433 ms (missed cycles : 3). + 5.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.412433 ms (missed cycles : 3).[0m ×2 + 7.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.928941 ms (missed cycles : 2). + 7.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.928941 ms (missed cycles : 2).[0m ×2 + 7.98sINFOjoint_trajectory_controllerReceived new action goal ×3238 + 7.98sINFOjoint_trajectory_controllerAccepted new action goal ×3238 + 7.98sINFOros2_control_nodeReceived new action goal[0m ×6476 + 7.98sINFOros2_control_nodeAccepted new action goal[0m ×6476 + 8.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.990189 ms (missed cycles : 6). + 8.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.990189 ms (missed cycles : 6).[0m ×2 + 8.64sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.57 s); wrist_camera (1.57 s). The render path has stopped producing new frames for them.[0m ×2 + 9.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.211716 ms (missed cycles : 2). + 9.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.211716 ms (missed cycles : 2).[0m ×2 + 10.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.058215 ms (missed cycles : 2). + 10.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.058215 ms (missed cycles : 2).[0m ×2 + 11.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.661241 ms (missed cycles : 3). + 11.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.661241 ms (missed cycles : 3).[0m ×2 + 12.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.040098 ms (missed cycles : 2). + 12.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.040098 ms (missed cycles : 2).[0m ×2 + 12.86sINFOjoint_trajectory_controllerGot request to cancel goal ×12 + 12.86sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. ×6 + 12.86sINFOros2_control_nodeGot request to cancel goal[0m ×24 + 12.86sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×12 + 12.87sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×12 + 13.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.923674 ms (missed cycles : 2). + 13.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.923674 ms (missed cycles : 2).[0m ×2 + 14.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.137899 ms (missed cycles : 2). + 14.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.137899 ms (missed cycles : 2).[0m ×2 + 14.65sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.53 s); wrist_camera (1.53 s). The render path has stopped producing new frames for them.[0m ×2 + 15.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.330619 ms (missed cycles : 2). + 15.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.330619 ms (missed cycles : 2).[0m ×2 + 16.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.788618 ms (missed cycles : 2). + 16.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.788618 ms (missed cycles : 2).[0m ×2 + 17.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.544511 ms (missed cycles : 2). + 17.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.544511 ms (missed cycles : 2).[0m ×2 + 18.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.273377 ms (missed cycles : 2). + 18.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.273377 ms (missed cycles : 2).[0m ×2 + 19.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.689721 ms (missed cycles : 2). + 19.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.689721 ms (missed cycles : 2).[0m ×2 + 20.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.980531 ms (missed cycles : 2). + 20.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.980531 ms (missed cycles : 2).[0m ×2 + 21.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.094055 ms (missed cycles : 2). + 21.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.094055 ms (missed cycles : 2).[0m ×2 + 22.52sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.54 s); wrist_camera (1.54 s). The render path has stopped producing new frames for them.[0m ×2 + 22.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.566479 ms (missed cycles : 2). + 22.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.566479 ms (missed cycles : 2).[0m ×2 + 23.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.832377 ms (missed cycles : 2). + 23.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.832377 ms (missed cycles : 2).[0m ×2 + 24.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.721221 ms (missed cycles : 2). + 24.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.721221 ms (missed cycles : 2).[0m ×2 + 25.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.942441 ms (missed cycles : 2). + 25.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.942441 ms (missed cycles : 2).[0m ×2 + 26.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.891606 ms (missed cycles : 2). + 26.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.891606 ms (missed cycles : 2).[0m ×2 + 27.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.223145 ms (missed cycles : 2). + 27.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.223145 ms (missed cycles : 2).[0m ×2 + 28.72sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.50 s); wrist_camera (1.50 s). The render path has stopped producing new frames for them.[0m ×2 + 28.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.834245 ms (missed cycles : 3). + 28.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.834245 ms (missed cycles : 3).[0m ×2 + 30.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.067687 ms (missed cycles : 3). + 30.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.067687 ms (missed cycles : 3).[0m ×2 + 31.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.712918 ms (missed cycles : 3). + 31.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.712918 ms (missed cycles : 3).[0m ×2 + 32.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.623219 ms (missed cycles : 3). + 32.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.623219 ms (missed cycles : 3).[0m ×2 + 33.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.865610 ms (missed cycles : 2). + 33.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.865610 ms (missed cycles : 2).[0m ×2 + 34.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.608755 ms (missed cycles : 4). + 34.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.608755 ms (missed cycles : 4).[0m ×2 + 35.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.780160 ms (missed cycles : 2). + 35.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.780160 ms (missed cycles : 2).[0m ×2 + 35.61sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.48 s); wrist_camera (1.48 s). The render path has stopped producing new frames for them.[0m ×2 + 36.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 14.670851 ms (missed cycles : 9). + 36.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 14.670851 ms (missed cycles : 9).[0m ×2 + 37.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.940871 ms (missed cycles : 2). + 37.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.940871 ms (missed cycles : 2).[0m ×2 + 38.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.093912 ms (missed cycles : 2). + 38.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.093912 ms (missed cycles : 2).[0m ×2 + 39.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.677502 ms (missed cycles : 2). + 39.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.677502 ms (missed cycles : 2).[0m ×2 + 40.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.169832 ms (missed cycles : 3). + 40.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.169832 ms (missed cycles : 3).[0m ×2 + 41.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.928058 ms (missed cycles : 2). + 41.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.928058 ms (missed cycles : 2).[0m ×2 + 42.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.721293 ms (missed cycles : 3). + 42.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.721293 ms (missed cycles : 3).[0m ×2 + 42.52sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.47 s); wrist_camera (1.47 s). The render path has stopped producing new frames for them.[0m ×2 + 43.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.815384 ms (missed cycles : 3). + 43.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.815384 ms (missed cycles : 3).[0m ×2 + 44.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.758442 ms (missed cycles : 2). + 44.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.758442 ms (missed cycles : 2).[0m ×2 + 45.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.573527 ms (missed cycles : 5). + 45.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.573527 ms (missed cycles : 5).[0m ×2 + 46.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.699671 ms (missed cycles : 2). + 46.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.699671 ms (missed cycles : 2).[0m ×2 + 46.87sINFOros2_control_nodeMuJoCo sim: 0.28% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 47.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.930900 ms (missed cycles : 2). + 47.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.930900 ms (missed cycles : 2).[0m ×2 + 48.16sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1786659168.46448207 seconds ×3 + 48.17sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 48.17sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 48.19sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 48.19sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 48.19sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 48.19sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 48.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.880769 ms (missed cycles : 3). + 48.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.880769 ms (missed cycles : 3).[0m ×2 + 48.80sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1786659169.10001469 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 48.84sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 48.84sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 48.84sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 48.84sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 48.84sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 48.93sINFOobjective_server_nodeFound path in 0 iterations (3.14e-07 s). ×2 + 48.94sINFOros2_control_node[2026-08-13 22:12:49.244] [info] Received new action goal ×2 + 48.94sINFOros2_control_node[2026-08-13 22:12:49.244] [info] Accepted new action goal ×2 + 49.28sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 49.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.341090 ms (missed cycles : 6). + 49.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.341090 ms (missed cycles : 6).[0m ×2 + 50.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.726893 ms (missed cycles : 2). + 50.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.726893 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Move Flasks to Burners | move_flasks_to_burners.xml | 43.5s | 166 warnings · 293 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.937362 ms (missed cycles : 7). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.937362 ms (missed cycles : 7).[0m ×2 + 0.35sINFOobjective_server_node[2026-08-13 22:11:05.630] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 0.91sINFOobjective_server_node[0;93m2026-08-13 22:11:06.188659680 [W:onnxruntime:, session_state.cc:1327 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 0.91sINFOobjective_server_node[0;93m2026-08-13 22:11:06.188704062 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.774379 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.774379 ms (missed cycles : 2).[0m ×2 + 1.08sINFOobjective_server_node[2026-08-13 22:11:06.359] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.13sINFOobjective_server_node[0;93m2026-08-13 22:11:06.412064775 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 5 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 1.13sINFOobjective_server_node[0;93m2026-08-13 22:11:06.415131113 [W:onnxruntime:, session_state.cc:1327 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 1.13sINFOobjective_server_node[0;93m2026-08-13 22:11:06.415152724 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.20sINFOobjective_server_node[2026-08-13 22:11:06.479] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.61sINFOobjective_server_node[0;93m2026-08-13 22:11:06.886099984 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 1 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 1.63sINFOobjective_server_node[0;93m2026-08-13 22:11:06.906507879 [W:onnxruntime:, session_state.cc:1327 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 1.63sINFOobjective_server_node[0;93m2026-08-13 22:11:06.906537609 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.662686 ms (missed cycles : 4). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.662686 ms (missed cycles : 4).[0m ×2 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.218370 ms (missed cycles : 2). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.218370 ms (missed cycles : 2).[0m ×2 + 3.31sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×4 + 3.49sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1786659068.77398801 seconds ×3 + 3.56sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.57sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.57sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.57sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.57sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.57sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.57sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.58sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.58sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.58sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.58sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.58sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 4.16sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1786659069.44527125 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.17sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×6 + 4.17sINFOros2_control_nodeReceived & accepted new action goal[0m ×12 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.358435 ms (missed cycles : 3). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.358435 ms (missed cycles : 3).[0m ×2 + 4.25sINFOobjective_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 + 4.25sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.54sINFOobjective_server_nodeFound path in 0 iterations (4.44e-07 s). ×2 + 4.54sINFOobjective_server_nodePath shortcutter: [X____________X] ×6 + 4.57sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×21 + 4.58sINFOros2_control_node[2026-08-13 22:11:09.863] [info] Received new action goal ×2 + 4.58sINFOros2_control_node[2026-08-13 22:11:09.863] [info] Accepted new action goal ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.193926 ms (missed cycles : 2). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.193926 ms (missed cycles : 2).[0m ×2 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.726592 ms (missed cycles : 2). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.726592 ms (missed cycles : 2).[0m ×2 + 7.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.735879 ms (missed cycles : 4). + 7.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.735879 ms (missed cycles : 4).[0m ×2 + 7.44sINFOobjective_server_nodeFound path in 0 iterations (3.41e-07 s). ×2 + 7.45sINFOros2_control_node[2026-08-13 22:11:12.729] [info] Received new action goal ×2 + 7.45sINFOros2_control_node[2026-08-13 22:11:12.729] [info] Accepted new action goal ×2 + 8.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.822284 ms (missed cycles : 4). + 8.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.822284 ms (missed cycles : 4).[0m ×2 + 9.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.820906 ms (missed cycles : 4). + 9.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.820906 ms (missed cycles : 4).[0m ×2 + 10.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.990268 ms (missed cycles : 6). + 10.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.990268 ms (missed cycles : 6).[0m ×2 + 10.61sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×12 + 10.61sINFOobjective_server_nodePlanning for 2 path waypoints. ×12 + 10.62sINFOros2_control_node[2026-08-13 22:11:15.902] [info] Received new action goal ×2 + 10.62sINFOros2_control_node[2026-08-13 22:11:15.902] [info] Accepted new action goal ×2 + 11.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.227118 ms (missed cycles : 5). + 11.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.227118 ms (missed cycles : 5).[0m ×2 + 12.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.861256 ms (missed cycles : 2). + 12.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.861256 ms (missed cycles : 2).[0m ×2 + 13.60sINFOobjective_server_nodeFound path in 0 iterations (4.07e-07 s). ×2 + 13.61sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 13.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.166177 ms (missed cycles : 2). + 13.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.166177 ms (missed cycles : 2).[0m ×2 + 13.66sINFOros2_control_node[2026-08-13 22:11:18.942] [info] Received new action goal ×2 + 13.66sINFOros2_control_node[2026-08-13 22:11:18.942] [info] Accepted new action goal ×2 + 14.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.975269 ms (missed cycles : 2). + 14.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.975269 ms (missed cycles : 2).[0m ×2 + 15.18sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.15 s); wrist_camera (1.15 s). The render path has stopped producing new frames for them.[0m ×2 + 15.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.076423 ms (missed cycles : 4). + 15.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.076423 ms (missed cycles : 4).[0m ×2 + 16.63sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×6 + 16.63sINFOcontroller_managerActivating controllers: [ velocity_force_controller ] ×2 + 16.63sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 16.63sINFOros2_control_nodeActivating controllers: [ velocity_force_controller ][0m ×4 + 16.63sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 16.63sINFOcontroller_managerActivated controllers: [ velocity_force_controller ] ×2 + 16.63sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 16.63sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 16.63sINFOros2_control_nodeActivated controllers: [ velocity_force_controller ][0m ×4 + 16.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.310000 ms (missed cycles : 6). + 16.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.310000 ms (missed cycles : 6).[0m ×2 + 18.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.916709 ms (missed cycles : 3). + 18.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.916709 ms (missed cycles : 3).[0m ×2 + 19.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.792083 ms (missed cycles : 2). + 19.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.792083 ms (missed cycles : 2).[0m ×2 + 20.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.850555 ms (missed cycles : 3). + 20.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.850555 ms (missed cycles : 3).[0m ×2 + 21.39sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 21.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.844575 ms (missed cycles : 2). + 21.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.844575 ms (missed cycles : 2).[0m ×2 + 22.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.809498 ms (missed cycles : 3). + 22.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.809498 ms (missed cycles : 3).[0m ×2 + 23.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.879174 ms (missed cycles : 4). + 23.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.879174 ms (missed cycles : 4).[0m ×2 + 24.13sINFOobjective_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 + 24.13sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 24.13sINFOcontroller_managerDeactivating controllers: [ velocity_force_controller ] ×2 + 24.13sINFOcontroller_managerDeactivated controllers: [ velocity_force_controller ] ×2 + 24.13sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 24.13sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 24.13sINFOros2_control_nodeDeactivating controllers: [ velocity_force_controller ][0m ×4 + 24.13sINFOros2_control_nodeDeactivated controllers: [ velocity_force_controller ][0m ×4 + 24.13sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 25.01sINFOros2_control_node[2026-08-13 22:11:30.289] [info] Received new action goal ×2 + 25.01sINFOros2_control_node[2026-08-13 22:11:30.289] [info] Accepted new action goal ×2 + 25.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.245043 ms (missed cycles : 2). + 25.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.245043 ms (missed cycles : 2).[0m ×2 + 26.19sINFOobjective_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 + 26.20sINFOobjective_server_nodeLink name: grasp_link, position: x=0.6598576612532956;y=0.560002886143494;z=0.650831489837671, orientation: x=-0.00013997501114327708;y=0.9955508839479362;z=0.09420424850691615;w=-0.0019943522071821764 ×3 + 26.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.679555 ms (missed cycles : 4). + 26.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.679555 ms (missed cycles : 4).[0m ×2 + 26.48sINFOobjective_server_nodeFound path in 0 iterations (3.99e-07 s). ×2 + 26.53sINFOros2_control_node[2026-08-13 22:11:31.808] [info] Received new action goal ×2 + 26.53sINFOros2_control_node[2026-08-13 22:11:31.808] [info] Accepted new action goal ×2 + 27.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.391378 ms (missed cycles : 2). + 27.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.391378 ms (missed cycles : 2).[0m ×2 + 28.29sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.28 s); wrist_camera (1.28 s). The render path has stopped producing new frames for them.[0m ×2 + 28.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.034582 ms (missed cycles : 2). + 28.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.034582 ms (missed cycles : 2).[0m ×2 + 28.81sINFOobjective_server_nodeFound path in 0 iterations (3.12e-07 s). ×2 + 28.81sINFOobjective_server_nodePath shortcutter: [X__________X] ×2 + 28.82sINFOros2_control_node[2026-08-13 22:11:34.100] [info] Received new action goal ×2 + 28.82sINFOros2_control_node[2026-08-13 22:11:34.100] [info] Accepted new action goal ×2 + 29.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.175260 ms (missed cycles : 3). + 29.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.175260 ms (missed cycles : 3).[0m ×2 + 30.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.164760 ms (missed cycles : 2). + 30.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.164760 ms (missed cycles : 2).[0m ×2 + 31.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.683235 ms (missed cycles : 2). + 31.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.683235 ms (missed cycles : 2).[0m ×2 + 31.86sINFOros2_control_node[2026-08-13 22:11:37.139] [info] Received new action goal ×2 + 31.86sINFOros2_control_node[2026-08-13 22:11:37.139] [info] Accepted new action goal ×2 + 32.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.854378 ms (missed cycles : 3). + 32.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.854378 ms (missed cycles : 3).[0m ×2 + 33.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.709042 ms (missed cycles : 4). + 33.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.709042 ms (missed cycles : 4).[0m ×2 + 34.45sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 34.48sINFOobjective_server_nodeFound path in 0 iterations (4.73e-07 s). ×2 + 34.48sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 34.53sINFOros2_control_node[2026-08-13 22:11:39.813] [info] Received new action goal ×2 + 34.53sINFOros2_control_node[2026-08-13 22:11:39.813] [info] Accepted new action goal ×2 + 34.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.467387 ms (missed cycles : 2). + 35.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.467387 ms (missed cycles : 2).[0m ×2 + 36.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.236878 ms (missed cycles : 2). + 36.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.236878 ms (missed cycles : 2).[0m ×2 + 37.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.266789 ms (missed cycles : 2). + 37.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.266789 ms (missed cycles : 2).[0m ×2 + 38.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.196314 ms (missed cycles : 2). + 38.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.196314 ms (missed cycles : 2).[0m ×2 + 39.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.207425 ms (missed cycles : 2). + 39.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.207425 ms (missed cycles : 2).[0m ×2 + 40.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.925574 ms (missed cycles : 2). + 40.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.925574 ms (missed cycles : 2).[0m ×2 + 41.28sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 41.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.223035 ms (missed cycles : 2). + 41.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.223035 ms (missed cycles : 2).[0m ×2 + 41.89sINFOros2_control_nodeMuJoCo sim: 0.27% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 42.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.116019 ms (missed cycles : 4). + 42.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.116019 ms (missed cycles : 4).[0m ×2 + 43.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.348580 ms (missed cycles : 4). + 43.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.348580 ms (missed cycles : 4).[0m ×2 + 44.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.762470 ms (missed cycles : 2). + 44.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.762470 ms (missed cycles : 2).[0m ×2 + 45.83sINFOros2_control_node[2026-08-13 22:11:51.109] [info] Received new action goal ×2 + 45.83sINFOros2_control_node[2026-08-13 22:11:51.109] [info] Accepted new action goal ×2 + 46.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.426727 ms (missed cycles : 4). + 46.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.426727 ms (missed cycles : 4).[0m ×2 + 46.35sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.30 s); wrist_camera (1.30 s). The render path has stopped producing new frames for them.[0m ×2 + 46.99sINFOobjective_server_nodeObjective `Move Flasks to Burners` succeeded at time: 1786659112.27564216 seconds ×3 + 47.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.777182 ms (missed cycles : 3). + 47.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.777182 ms (missed cycles : 3).[0m ×2 + 47.81sINFOobjective_server_nodeObjective `Push Button` starting at time: 1786659113.08922505 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 48.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.961828 ms (missed cycles : 2). + 48.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.961828 ms (missed cycles : 2).[0m ×2 + 49.02sINFOobjective_server_nodeFound path in 0 iterations (3.9e-07 s). ×2 + 49.03sINFOobjective_server_nodePath shortcutter: [X__________________________X] ×2 + 49.05sINFOros2_control_node[2026-08-13 22:11:54.324] [info] Received new action goal ×2 + 49.05sINFOros2_control_node[2026-08-13 22:11:54.324] [info] Accepted new action goal ×2 + 49.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.228570 ms (missed cycles : 2). + 49.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.228570 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Pick 1 Pill Bottle with SAM3 | pick_1_pill_bottle_with_sam3.xml | 29.7s | 117 warnings · 2691 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×413 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×413 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×826 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×826 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.752711 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.752711 ms (missed cycles : 2).[0m ×2 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.945307 ms (missed cycles : 3). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.945307 ms (missed cycles : 3).[0m ×2 + 2.19sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.53 s); wrist_camera (1.53 s). The render path has stopped producing new frames for them.[0m ×2 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.669947 ms (missed cycles : 7). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.669947 ms (missed cycles : 7).[0m ×2 + 3.89sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1786659190.56899834 seconds ×3 + 3.90sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.90sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.90sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.90sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.91sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.91sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.91sINFOcontroller_managerSuccessfully switched controllers! ×5 + 3.91sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.91sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.91sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 3.91sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.92sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.92sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.92sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.93sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.93sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.869542 ms (missed cycles : 4). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.869542 ms (missed cycles : 4).[0m ×2 + 4.53sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` starting at time: 1786659191.20862293 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.54sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×4 + 4.54sINFOros2_control_nodeReceived & accepted new action goal[0m ×8 + 4.61sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.61sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.61sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.61sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.61sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.61sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.61sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.61sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.61sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.71sINFOobjective_server_nodeFound path in 5 iterations (0.0065955 s). ×2 + 4.78sINFOobjective_server_nodePath shortcutter: [X______________________________X_________________________________X] ×2 + 4.79sINFOros2_control_node[2026-08-13 22:13:11.465] [info] Received new action goal ×2 + 4.79sINFOros2_control_node[2026-08-13 22:13:11.465] [info] Accepted new action goal ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.093168 ms (missed cycles : 5). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.093168 ms (missed cycles : 5).[0m ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.937579 ms (missed cycles : 3). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.937579 ms (missed cycles : 3).[0m ×2 + 7.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.863137 ms (missed cycles : 3). + 7.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.863137 ms (missed cycles : 3).[0m ×2 + 7.91sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.12 s); wrist_camera (1.12 s). The render path has stopped producing new frames for them.[0m ×2 + 8.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.349170 ms (missed cycles : 4). + 8.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.349170 ms (missed cycles : 4).[0m ×2 + 9.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.369745 ms (missed cycles : 3). + 9.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.369745 ms (missed cycles : 3).[0m ×2 + 10.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.149109 ms (missed cycles : 6). + 10.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.149109 ms (missed cycles : 6).[0m ×2 + 11.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.405998 ms (missed cycles : 2). + 11.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.405998 ms (missed cycles : 2).[0m ×2 + 12.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.711285 ms (missed cycles : 4). + 12.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.711285 ms (missed cycles : 4).[0m ×2 + 13.98sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.14 s); wrist_camera (1.14 s). The render path has stopped producing new frames for them.[0m ×4 + 14.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.897534 ms (missed cycles : 2). + 14.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.897534 ms (missed cycles : 2).[0m ×2 + 14.67sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×4 + 15.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.800510 ms (missed cycles : 2). + 15.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.800510 ms (missed cycles : 2).[0m ×2 + 16.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796602 ms (missed cycles : 2). + 16.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796602 ms (missed cycles : 2).[0m ×2 + 17.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.747774 ms (missed cycles : 3). + 17.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.747774 ms (missed cycles : 3).[0m ×2 + 18.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.767692 ms (missed cycles : 3). + 18.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.767692 ms (missed cycles : 3).[0m ×2 + 18.90sINFOobjective_server_nodeFound path in 4 iterations (0.00292701 s). ×2 + 18.99sINFOobjective_server_nodePath shortcutter: [X______________________________________________X____________________X] ×2 + 19.03sINFOobjective_server_nodeFound path in 12 iterations (0.00535901 s). ×2 + 19.10sINFOobjective_server_nodePath shortcutter: [X________________________________________________X__________________X] ×2 + 19.14sINFOobjective_server_nodeFound path in 2 iterations (0.00512434 s). ×2 + 19.19sINFOobjective_server_nodePath shortcutter: [X______________________________X__________________X] ×2 + 19.22sINFOobjective_server_nodeFound path in 0 iterations (2.42e-07 s). ×2 + 19.26sINFOobjective_server_nodePath shortcutter: [X____________________________________X] ×2 + 19.27sINFOobjective_server_nodeFound path in 0 iterations (2.28e-07 s). ×2 + 19.31sINFOobjective_server_nodePath shortcutter: [X_____________________________________X] ×2 + 19.33sINFOobjective_server_nodeFound path in 8 iterations (0.00369327 s). ×2 + 19.38sINFOobjective_server_nodePath shortcutter: [X___________________________________X__________________________X] ×2 + 19.41sINFOobjective_server_nodeFound path in 1 iterations (0.00459187 s). ×2 + 19.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.384764 ms (missed cycles : 2). + 19.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.384764 ms (missed cycles : 2).[0m ×2 + 19.47sINFOobjective_server_nodePath shortcutter: [X________________________________X____________________X] ×2 + 19.49sINFOobjective_server_nodeFound path in 0 iterations (2.79e-07 s). ×2 + 19.53sINFOobjective_server_nodePath shortcutter: [X__________________________________________X] ×2 + 19.56sINFOobjective_server_nodeFound path in 4 iterations (0.00552213 s). ×2 + 19.65sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________X______________X] ×2 + 19.68sINFOobjective_server_nodeFound path in 4 iterations (0.00330661 s). ×2 + 19.78sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X______________________X] ×2 + 19.81sINFOobjective_server_nodeFound path in 1 iterations (0.00566413 s). ×2 + 19.87sINFOobjective_server_nodePath shortcutter: [X___________________________________X_____________________________X] ×2 + 19.90sINFOobjective_server_nodeFound path in 10 iterations (0.00661667 s). ×2 + 20.01sINFOobjective_server_nodePath shortcutter: [X_________________________________________________X__________________________________________________X] ×2 + 20.06sINFOobjective_server_nodeFound path in 1 iterations (0.00391013 s). ×2 + 20.14sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________X________________________X] ×2 + 20.16sINFOobjective_server_nodeFound path in 0 iterations (3.03e-07 s). ×2 + 20.21sINFOobjective_server_nodePath shortcutter: [X_________________________________________________X] ×2 + 20.23sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 20.30sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X] ×2 + 20.32sINFOobjective_server_nodeFound path in 0 iterations (5.36e-07 s). ×2 + 20.42sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X] ×2 + 20.64sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 20.66sINFOros2_control_node[2026-08-13 22:13:27.328] [info] Received new action goal ×2 + 20.66sINFOros2_control_node[2026-08-13 22:13:27.328] [info] Accepted new action goal ×2 + 20.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.030311 ms (missed cycles : 4). + 20.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.030311 ms (missed cycles : 4).[0m ×2 + 21.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.697289 ms (missed cycles : 2). + 21.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.697289 ms (missed cycles : 2).[0m ×2 + 22.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.352529 ms (missed cycles : 4). + 22.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.352529 ms (missed cycles : 4).[0m ×2 + 24.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.506262 ms (missed cycles : 2). + 24.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.506262 ms (missed cycles : 2).[0m ×2 + 25.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.105792 ms (missed cycles : 7). + 25.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.105792 ms (missed cycles : 7).[0m ×2 + 25.81sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.13 s); wrist_camera (1.13 s). The render path has stopped producing new frames for them.[0m ×2 + 26.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.088119 ms (missed cycles : 2). + 26.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.088119 ms (missed cycles : 2).[0m ×2 + 26.79sINFOros2_control_node[2026-08-13 22:13:33.461] [info] Received new action goal ×2 + 26.79sINFOros2_control_node[2026-08-13 22:13:33.461] [info] Accepted new action goal ×2 + 27.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.009773 ms (missed cycles : 5). + 27.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.009773 ms (missed cycles : 5).[0m ×2 + 28.25sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 28.25sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 28.26sINFOros2_control_node[2026-08-13 22:13:34.932] [info] Received new action goal ×2 + 28.26sINFOros2_control_node[2026-08-13 22:13:34.932] [info] Accepted new action goal ×2 + 28.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.803096 ms (missed cycles : 2). + 28.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.803096 ms (missed cycles : 2).[0m ×2 + 29.32sWARNobjective_server_nodePlan up-over-down Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 29.32sINFOobjective_server_nodePlanning for 4 path waypoints. ×3 + 29.36sINFOros2_control_node[2026-08-13 22:13:36.033] [info] Received new action goal ×2 + 29.36sINFOros2_control_node[2026-08-13 22:13:36.033] [info] Accepted new action goal ×2 + 29.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.717787 ms (missed cycles : 4). + 29.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.717787 ms (missed cycles : 4).[0m ×2 + 30.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.357440 ms (missed cycles : 5). + 30.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.357440 ms (missed cycles : 5).[0m ×2 + 31.13sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 31.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.793997 ms (missed cycles : 5). + 31.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.793997 ms (missed cycles : 5).[0m ×2 + 32.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.963841 ms (missed cycles : 2). + 32.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.963841 ms (missed cycles : 2).[0m ×2 + 33.57sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` succeeded at time: 1786659220.24881601 seconds ×3 + 33.61sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 33.61sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 33.62sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 33.62sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 33.64sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 33.64sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 33.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.496376 ms (missed cycles : 5). + 33.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.496376 ms (missed cycles : 5).[0m ×2 + 34.26sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1786659220.93082786 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 34.53sINFOobjective_server_nodeFound path in 0 iterations (4.77e-07 s). ×2 + 34.53sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 34.54sINFOros2_control_node[2026-08-13 22:13:41.215] [info] Received new action goal ×2 + 34.54sINFOros2_control_node[2026-08-13 22:13:41.216] [info] Accepted new action goal ×2 + 34.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.713530 ms (missed cycles : 3). + 34.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.713530 ms (missed cycles : 3).[0m ×2 + 35.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.068552 ms (missed cycles : 2). + 35.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.068552 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 | 22.1s | 92 warnings · 14068 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×2318 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×2318 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×4636 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×4636 + 0.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.758442 ms (missed cycles : 2). + 0.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.758442 ms (missed cycles : 2).[0m ×2 + 1.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.573527 ms (missed cycles : 5). + 1.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.573527 ms (missed cycles : 5).[0m ×2 + 2.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.699671 ms (missed cycles : 2). + 2.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.699671 ms (missed cycles : 2).[0m ×2 + 2.60sINFOros2_control_nodeMuJoCo sim: 0.28% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.930900 ms (missed cycles : 2). + 3.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.930900 ms (missed cycles : 2).[0m ×2 + 3.89sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1786659168.46448207 seconds ×3 + 3.89sINFOjoint_trajectory_controllerGot request to cancel goal ×4 + 3.89sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. ×2 + 3.89sINFOros2_control_nodeGot request to cancel goal[0m ×8 + 3.90sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×4 + 3.90sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×2 + 3.90sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×4 + 3.90sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.90sINFOcontroller_managerSuccessfully switched controllers! ×7 + 3.90sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.90sINFOros2_control_nodeSuccessfully switched controllers![0m ×14 + 3.91sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.91sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.91sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×2 + 3.92sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×4 + 3.92sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×2 + 3.92sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×4 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.880769 ms (missed cycles : 3). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.880769 ms (missed cycles : 3).[0m ×2 + 4.53sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1786659169.10001469 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.57sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×6 + 4.57sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 4.57sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] ×2 + 4.57sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 4.57sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×4 + 4.57sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] ×2 + 4.57sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 4.57sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×4 + 4.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 4.66sINFOobjective_server_nodeFound path in 0 iterations (3.14e-07 s). ×2 + 4.66sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.67sINFOros2_control_node[2026-08-13 22:12:49.244] [info] Received new action goal ×2 + 4.67sINFOros2_control_node[2026-08-13 22:12:49.244] [info] Accepted new action goal ×2 + 5.01sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 5.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.341090 ms (missed cycles : 6). + 5.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.341090 ms (missed cycles : 6).[0m ×2 + 5.92sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×2 + 5.98sINFOobjective_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 + 5.99sINFOobjective_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 + 5.99sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.99sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] + 6.00sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] + 6.00sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 6.00sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.00sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.00sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.00sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.726893 ms (missed cycles : 2). + 6.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.726893 ms (missed cycles : 2).[0m ×2 + 7.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.899193 ms (missed cycles : 3). + 7.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.899193 ms (missed cycles : 3).[0m ×2 + 8.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.614951 ms (missed cycles : 5). + 8.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.614951 ms (missed cycles : 5).[0m ×2 + 9.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.732164 ms (missed cycles : 4). + 9.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.732164 ms (missed cycles : 4).[0m ×2 + 10.41sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.53 s); wrist_camera (1.53 s). The render path has stopped producing new frames for them.[0m ×6 + 10.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.286406 ms (missed cycles : 4). + 10.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.286406 ms (missed cycles : 4).[0m ×2 + 11.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.914560 ms (missed cycles : 2). + 11.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.914560 ms (missed cycles : 2).[0m ×2 + 12.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.897582 ms (missed cycles : 2). + 12.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.897582 ms (missed cycles : 2).[0m ×2 + 13.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.128653 ms (missed cycles : 4). + 13.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.128653 ms (missed cycles : 4).[0m ×2 + 14.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.702838 ms (missed cycles : 3). + 14.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.702838 ms (missed cycles : 3).[0m ×2 + 15.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.591056 ms (missed cycles : 5). + 15.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.591056 ms (missed cycles : 5).[0m ×2 + 16.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.291166 ms (missed cycles : 3). + 16.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.291166 ms (missed cycles : 3).[0m ×2 + 17.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.396898 ms (missed cycles : 4). + 17.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.396898 ms (missed cycles : 4).[0m ×2 + 18.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.058088 ms (missed cycles : 5). + 18.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.058088 ms (missed cycles : 5).[0m ×2 + 19.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.795586 ms (missed cycles : 2). + 19.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.795586 ms (missed cycles : 2).[0m ×2 + 21.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.198329 ms (missed cycles : 2). + 21.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.198329 ms (missed cycles : 2).[0m ×2 + 22.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.487549 ms (missed cycles : 4). + 22.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.487549 ms (missed cycles : 4).[0m ×2 + 23.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.752711 ms (missed cycles : 2). + 23.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.752711 ms (missed cycles : 2).[0m ×2 + 24.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.945307 ms (missed cycles : 3). + 24.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.945307 ms (missed cycles : 3).[0m ×2 + 25.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.669947 ms (missed cycles : 7). + 25.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.669947 ms (missed cycles : 7).[0m ×2 + 26.00sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1786659190.56899834 seconds ×3 + 26.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.869542 ms (missed cycles : 4). + 26.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.869542 ms (missed cycles : 4).[0m ×2 + 26.64sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` starting at time: 1786659191.20862293 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 26.64sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 26.64sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 26.81sINFOobjective_server_nodeFound path in 5 iterations (0.0065955 s). ×2 + 26.88sINFOobjective_server_nodePath shortcutter: [X______________________________X_________________________________X] ×2 + 26.89sINFOros2_control_node[2026-08-13 22:13:11.465] [info] Received new action goal ×2 + 26.89sINFOros2_control_node[2026-08-13 22:13:11.465] [info] Accepted new action goal ×2 + 27.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.093168 ms (missed cycles : 5). + 27.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.093168 ms (missed cycles : 5).[0m ×2 + 28.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.937579 ms (missed cycles : 3). + 28.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.937579 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Pick April Tag Labeled Object | apriltag_pick_object.xml | 15.5s | 3 errors · 74 warnings · 207 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.567903 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.567903 ms (missed cycles : 2).[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.493811 ms (missed cycles : 2). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.493811 ms (missed cycles : 2).[0m ×2 + 2.08sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 2.17sINFOobjective_server_nodeFound path in 0 iterations (3.24e-07 s). ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.003910 ms (missed cycles : 3). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.003910 ms (missed cycles : 3).[0m ×2 + 2.18sINFOobjective_server_nodePath shortcutter: [X_________________X] ×4 + 2.19sINFOros2_control_node[2026-08-13 22:09:54.645] [info] Received new action goal ×2 + 2.19sINFOros2_control_node[2026-08-13 22:09:54.645] [info] Accepted new action goal ×2 + 2.56sINFOobjective_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 + 2.57sINFOros2_control_node[2026-08-13 22:09:55.021] [info] Got request to cancel active goal. ×2 + 2.57sINFOros2_control_node[2026-08-13 22:09:55.021] [info] Canceling active goal... ×2 + 2.58sERRORobjective_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: 1786658995.03684425 seconds ×3 + 2.59sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.60sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.60sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 2.60sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.60sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 2.60sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.60sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.60sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.60sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.60sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.61sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.61sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.23sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1786658995.67930222 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.307591 ms (missed cycles : 2). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.307591 ms (missed cycles : 2).[0m ×2 + 3.34sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1786658995.78942370 seconds ×3 + 3.35sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 3.94sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1786658996.39309120 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.94sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.94sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 4.13sINFOobjective_server_nodeFound path in 0 iterations (4.85e-07 s). ×2 + 4.13sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.14sINFOros2_control_node[2026-08-13 22:09:56.596] [info] Received new action goal ×2 + 4.14sINFOros2_control_node[2026-08-13 22:09:56.596] [info] Accepted new action goal ×2 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.921710 ms (missed cycles : 2). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.921710 ms (missed cycles : 2).[0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.080196 ms (missed cycles : 3). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.080196 ms (missed cycles : 3).[0m ×2 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.939060 ms (missed cycles : 2). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.939060 ms (missed cycles : 2).[0m ×2 + 7.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.769732 ms (missed cycles : 2). + 7.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.769732 ms (missed cycles : 2).[0m ×2 + 8.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.268070 ms (missed cycles : 5). + 8.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.268070 ms (missed cycles : 5).[0m ×2 + 9.42sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 9.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.993607 ms (missed cycles : 2). + 9.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.993607 ms (missed cycles : 2).[0m ×2 + 10.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.519188 ms (missed cycles : 4). + 10.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.519188 ms (missed cycles : 4).[0m ×2 + 11.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.139050 ms (missed cycles : 6). + 11.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.139050 ms (missed cycles : 6).[0m ×2 + 12.52sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 12.52sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 ×2 + 12.53sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 12.82sINFOobjective_server_nodeFound path in 0 iterations (4.53e-07 s). ×2 + 12.82sINFOobjective_server_nodePath shortcutter: [X__________X] ×2 + 12.83sINFOobjective_server_nodeFound path in 0 iterations (2.26e-07 s). ×2 + 12.85sINFOobjective_server_nodeFound path in 0 iterations (3.03e-07 s). ×2 + 12.89sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X] ×2 + 12.91sINFOobjective_server_nodeFound path in 1 iterations (0.00306318 s). ×2 + 13.01sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X_____________X] ×2 + 13.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.612449 ms (missed cycles : 8). + 13.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.612449 ms (missed cycles : 8).[0m ×2 + 13.10sINFOros2_control_node[2026-08-13 22:10:05.552] [info] Received new action goal ×2 + 13.10sINFOros2_control_node[2026-08-13 22:10:05.552] [info] Accepted new action goal ×2 + 14.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.875189 ms (missed cycles : 2). + 14.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.875189 ms (missed cycles : 2).[0m ×2 + 15.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.921170 ms (missed cycles : 4). + 15.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.921170 ms (missed cycles : 4).[0m ×2 + 15.57sINFOros2_control_node[2026-08-13 22:10:08.025] [info] Received new action goal ×2 + 15.57sINFOros2_control_node[2026-08-13 22:10:08.025] [info] Accepted new action goal ×2 + 16.03sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.17 s); wrist_camera (1.17 s). The render path has stopped producing new frames for them.[0m ×2 + 16.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.980539 ms (missed cycles : 2). + 16.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.980539 ms (missed cycles : 2).[0m ×2 + 17.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.613787 ms (missed cycles : 4). + 17.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.613787 ms (missed cycles : 4).[0m ×2 + 17.47sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 17.47sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 17.48sINFOros2_control_node[2026-08-13 22:10:09.937] [info] Received new action goal ×2 + 17.48sINFOros2_control_node[2026-08-13 22:10:09.937] [info] Accepted new action goal ×2 + 18.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.949310 ms (missed cycles : 2). + 18.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.949310 ms (missed cycles : 2).[0m ×2 + 18.87sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1786659011.32352805 seconds ×3 + 19.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.005856 ms (missed cycles : 3). + 19.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.005856 ms (missed cycles : 3).[0m ×2 + 19.49sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1786659011.94726753 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 19.54sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1786659011.99740314 seconds ×3 + 20.19sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1786659012.64167285 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 20.30sINFOobjective_server_nodeFound path in 0 iterations (2.86e-07 s). ×2 + 20.30sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 20.31sINFOros2_control_node[2026-08-13 22:10:12.766] [info] Received new action goal ×2 + 20.31sINFOros2_control_node[2026-08-13 22:10:12.766] [info] Accepted new action goal ×2 + 20.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.546671 ms (missed cycles : 5). + 20.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.546671 ms (missed cycles : 5).[0m ×2 + 21.40sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 21.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.867324 ms (missed cycles : 3). + 21.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.867324 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Load and Execute Joint Trajectory | load_and_execute_joint_trajectory.xml | 12.1s | 3 errors · 57 warnings · 181 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.209743 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.209743 ms (missed cycles : 2).[0m ×2 + 0.19sINFOobjective_server_nodeFound path in 0 iterations (3.72e-07 s). ×2 + 0.19sINFOobjective_server_nodePath shortcutter: [X_X] ×2 + 0.19sINFOobjective_server_nodeFound path in 0 iterations (2.16e-07 s). ×2 + 0.19sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 0.20sINFOobjective_server_nodeFound path in 0 iterations (2.32e-07 s). ×2 + 0.25sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 0.28sINFOobjective_server_nodeFound path in 1 iterations (0.00339069 s). ×2 + 0.39sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________X____________X] ×2 + 0.44sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.46sINFOros2_control_node[2026-08-13 22:10:42.532] [info] Received new action goal ×2 + 0.46sINFOros2_control_node[2026-08-13 22:10:42.532] [info] Accepted new action goal ×2 + 0.89sINFOros2_control_node[2026-08-13 22:10:42.964] [info] Received new action goal ×2 + 0.89sINFOros2_control_node[2026-08-13 22:10:42.964] [info] Accepted new action goal ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.601806 ms (missed cycles : 5). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.601806 ms (missed cycles : 5).[0m ×2 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.189531 ms (missed cycles : 2). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.189531 ms (missed cycles : 2).[0m ×2 + 2.27sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.27sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.49sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×2 + 2.94sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.95sINFOrobotiq_gripper_controllerGot request to cancel goal + 2.95sINFOrobotiq_gripper_controllerCanceling active action goal because cancel callback received. + 2.95sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 2.95sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 2.97sERRORobjective_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: 1786659045.05063272 seconds ×3 + 2.98sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.98sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.98sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.98sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.98sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.98sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.99sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.99sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.99sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.99sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.00sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.00sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.216801 ms (missed cycles : 5). + 3.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.216801 ms (missed cycles : 5).[0m ×2 + 3.78sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1786659045.86094737 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.96sINFOobjective_server_nodeFound path in 0 iterations (4.35e-07 s). ×2 + 3.97sINFOros2_control_node[2026-08-13 22:10:46.045] [info] Received new action goal ×2 + 3.97sINFOros2_control_node[2026-08-13 22:10:46.045] [info] Accepted new action goal ×2 + 4.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.986163 ms (missed cycles : 5). + 4.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.986163 ms (missed cycles : 5).[0m ×2 + 5.09sINFOros2_control_nodeMuJoCo sim: 0.20% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.650270 ms (missed cycles : 3). + 5.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.650270 ms (missed cycles : 3).[0m ×2 + 6.47sINFOros2_control_node[2026-08-13 22:10:48.545] [info] Received new action goal ×2 + 6.47sINFOros2_control_node[2026-08-13 22:10:48.545] [info] Accepted new action goal ×2 + 6.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.130549 ms (missed cycles : 2). + 6.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.130549 ms (missed cycles : 2).[0m ×2 + 7.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.297595 ms (missed cycles : 5). + 7.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.297595 ms (missed cycles : 5).[0m ×2 + 8.53sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 8.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.765008 ms (missed cycles : 2). + 8.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.765008 ms (missed cycles : 2).[0m ×2 + 9.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.822265 ms (missed cycles : 2). + 9.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.822265 ms (missed cycles : 2).[0m ×2 + 11.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.119449 ms (missed cycles : 2). + 11.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.119449 ms (missed cycles : 2).[0m ×2 + 12.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.010261 ms (missed cycles : 6). + 12.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.010261 ms (missed cycles : 6).[0m ×2 + 13.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.994468 ms (missed cycles : 3). + 13.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.994468 ms (missed cycles : 3).[0m ×2 + 14.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.776157 ms (missed cycles : 2). + 14.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.776157 ms (missed cycles : 2).[0m ×2 + 14.50sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 15.04sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1786659057.11719847 seconds ×3 + 15.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.456750 ms (missed cycles : 3). + 15.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.456750 ms (missed cycles : 3).[0m ×2 + 15.72sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1786659057.79367590 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.75sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 15.75sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 15.76sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 15.76sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 15.79sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1786659057.86380720 seconds ×3 + 16.39sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1786659058.47133780 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.50sINFOobjective_server_nodeFound path in 0 iterations (3.12e-07 s). ×2 + 16.50sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 16.51sINFOros2_control_node[2026-08-13 22:10:58.586] [info] Received new action goal ×2 + 16.51sINFOros2_control_node[2026-08-13 22:10:58.586] [info] Accepted new action goal ×2 + 16.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.341144 ms (missed cycles : 5). + 16.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.341144 ms (missed cycles : 5).[0m ×2 + 17.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.994929 ms (missed cycles : 5). + 17.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.994929 ms (missed cycles : 5).[0m ×2 | ||||
| ✓ passed | Push Button | move_with_velocity_and_force.xml | 11.7s | 60 warnings · 182 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.348580 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.348580 ms (missed cycles : 4).[0m ×2 + 1.08sINFOobjective_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 + 1.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 1.08sINFOcontroller_managerDeactivating controllers: [ velocity_force_controller ] ×2 + 1.08sINFOcontroller_managerDeactivated controllers: [ velocity_force_controller ] ×2 + 1.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 1.08sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 1.08sINFOros2_control_nodeDeactivating controllers: [ velocity_force_controller ][0m ×4 + 1.08sINFOros2_control_nodeDeactivated controllers: [ velocity_force_controller ][0m ×4 + 1.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 1.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.09sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.09sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.762470 ms (missed cycles : 2). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.762470 ms (missed cycles : 2).[0m ×2 + 1.95sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 1.95sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.96sINFOros2_control_node[2026-08-13 22:11:51.109] [info] Received new action goal ×2 + 1.96sINFOros2_control_node[2026-08-13 22:11:51.109] [info] Accepted new action goal ×2 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.426727 ms (missed cycles : 4). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.426727 ms (missed cycles : 4).[0m ×2 + 2.48sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.30 s); wrist_camera (1.30 s). The render path has stopped producing new frames for them.[0m ×2 + 3.13sINFOobjective_server_nodeObjective `Move Flasks to Burners` succeeded at time: 1786659112.27564216 seconds ×3 + 3.21sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.21sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.22sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.22sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.23sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.23sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.777182 ms (missed cycles : 3). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.777182 ms (missed cycles : 3).[0m ×2 + 3.94sINFOobjective_server_nodeObjective `Push Button` starting at time: 1786659113.08922505 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.961828 ms (missed cycles : 2). + 4.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.961828 ms (missed cycles : 2).[0m ×2 + 5.01sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.15sINFOobjective_server_nodeFound path in 0 iterations (3.9e-07 s). ×2 + 5.16sINFOobjective_server_nodePath shortcutter: [X__________________________X] ×2 + 5.18sINFOros2_control_node[2026-08-13 22:11:54.324] [info] Received new action goal ×2 + 5.18sINFOros2_control_node[2026-08-13 22:11:54.324] [info] Accepted new action goal ×2 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.228570 ms (missed cycles : 2). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.228570 ms (missed cycles : 2).[0m ×2 + 6.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.832074 ms (missed cycles : 4). + 6.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.832074 ms (missed cycles : 4).[0m ×2 + 7.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.751228 ms (missed cycles : 3). + 7.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.751228 ms (missed cycles : 3).[0m ×2 + 8.52sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.14 s); wrist_camera (1.14 s). The render path has stopped producing new frames for them.[0m ×2 + 8.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.071953 ms (missed cycles : 3). + 8.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.071953 ms (missed cycles : 3).[0m ×2 + 8.87sINFOobjective_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 + 8.87sINFOcontroller_managerActivating controllers: [ velocity_force_controller ] + 8.87sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 8.87sINFOros2_control_nodeActivating controllers: [ velocity_force_controller ][0m ×2 + 8.87sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 8.87sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 8.87sINFOcontroller_managerActivated controllers: [ velocity_force_controller ] + 8.87sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 8.87sINFOros2_control_nodeActivated controllers: [ velocity_force_controller ][0m ×2 + 9.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.112940 ms (missed cycles : 4). + 9.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.112940 ms (missed cycles : 4).[0m ×2 + 10.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.784095 ms (missed cycles : 2). + 10.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.784095 ms (missed cycles : 2).[0m ×2 + 11.25sINFOobjective_server_nodeFound path in 0 iterations (4.25e-07 s). ×2 + 11.26sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 11.28sINFOros2_control_node[2026-08-13 22:12:00.427] [info] Received new action goal ×2 + 11.28sINFOros2_control_node[2026-08-13 22:12:00.428] [info] Accepted new action goal ×2 + 11.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.753313 ms (missed cycles : 4). + 11.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.753313 ms (missed cycles : 4).[0m ×2 + 12.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.589486 ms (missed cycles : 4). + 12.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.589486 ms (missed cycles : 4).[0m ×2 + 13.70sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×2 + 13.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.089855 ms (missed cycles : 2). + 13.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.089855 ms (missed cycles : 2).[0m ×2 + 14.88sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1786659124.02939272 seconds ×3 + 14.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.235333 ms (missed cycles : 4). + 14.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.235333 ms (missed cycles : 4).[0m ×2 + 15.49sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1786659124.64128065 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.68sINFOobjective_server_nodeFound path in 0 iterations (4.39e-07 s). ×2 + 15.68sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 15.69sINFOros2_control_node[2026-08-13 22:12:04.835] [info] Received new action goal ×2 + 15.69sINFOros2_control_node[2026-08-13 22:12:04.835] [info] Accepted new action goal ×2 + 16.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.222686 ms (missed cycles : 6). + 16.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.222686 ms (missed cycles : 6).[0m ×2 + 16.95sINFOobjective_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 + 16.96sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 17.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 17.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 17.01sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 17.01sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 17.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.412433 ms (missed cycles : 3). + 17.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.412433 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Take Wrist Camera Snapshot | wrist_snap.xml | 11.4s | 61 errors · 42 warnings · 319 info |
+ 0.00sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOros2_control_node[2026-08-13 22:14:36.026] [info] Got request to cancel active goal. ×2 + 0.01sINFOros2_control_node[2026-08-13 22:14:36.026] [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: 1786659276.03077412 seconds ×3 + 0.02sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.02sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 0.02sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 0.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.03sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.03sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.04sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.04sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.878871 ms (missed cycles : 3). + 0.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.878871 ms (missed cycles : 3).[0m ×2 + 0.61sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1786659276.62529993 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.727068 ms (missed cycles : 3). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.727068 ms (missed cycles : 3).[0m ×2 + 1.95sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1786659277.96542549 seconds ×3 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.694793 ms (missed cycles : 2). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.694793 ms (missed cycles : 2).[0m ×2 + 2.54sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1786659278.55894351 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.54sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 2.54sINFOobjective_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 + 2.54sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 2.54sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1786659278.56131363 seconds ×3 + 2.77sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.462809 ms (missed cycles : 5). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.462809 ms (missed cycles : 5).[0m ×2 + 3.26sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1786659279.27838302 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.26sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1786659279.27890563 seconds ×3 + 3.85sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1786659279.86800027 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.736691 ms (missed cycles : 4). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.736691 ms (missed cycles : 4).[0m ×2 + 4.98sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1786659280.99812818 seconds ×3 + 5.02sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.093654 ms (missed cycles : 4). + 5.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.093654 ms (missed cycles : 4).[0m ×2 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.775896 ms (missed cycles : 2). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.775896 ms (missed cycles : 2).[0m ×2 + 7.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.080296 ms (missed cycles : 2). + 7.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.080296 ms (missed cycles : 2).[0m ×2 + 8.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.243560 ms (missed cycles : 2). + 8.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.243560 ms (missed cycles : 2).[0m ×2 + 9.47sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 9.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.012604 ms (missed cycles : 5). + 9.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.012604 ms (missed cycles : 5).[0m ×2 + 10.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.562704 ms (missed cycles : 5). + 10.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.562704 ms (missed cycles : 5).[0m ×2 + 10.69sERRORweb_video_auth_proxy-23process[web_video_auth_proxy-23] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.69sERRORweb_bridge_auth_proxy-22process[web_bridge_auth_proxy-22] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.70sERRORvideo_server-21process[video_server-21] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.70sINFOweb_video_auth_proxy-23sending signal 'SIGTERM' to process[web_video_auth_proxy-23] ×2 + 10.71sERRORtf2_web_republisher_node-20process[tf2_web_republisher_node-20] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.71sERRORweb_video_auth_proxy-23process has died [pid 9102, 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 + 10.71sERRORweb_bridge-19process[web_bridge-19] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.71sERRORui_teleop_bridge-18process[ui_teleop_bridge-18] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.72sINFOweb_bridge_auth_proxy-22sending signal 'SIGTERM' to process[web_bridge_auth_proxy-22] ×2 + 10.73sERRORexecute_objective_bridge-17process[execute_objective_bridge-17] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.73sERRORweb_bridge_auth_proxy-22process has died [pid 9101, 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 + 10.73sERRORcomponent_container_mt-16process[component_container_mt-16] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.73sERRORcomponent_container_mt-15process[component_container_mt-15] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.74sERRORobjective_server_node_main-14process[objective_server_node_main-14] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.74sERRORmove_end_effector_resampler_node-13process[move_end_effector_resampler_node-13] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.74sERRORmove_joint_resampler_node-12process[move_joint_resampler_node-12] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.74sERRORwaypoint_manager_node-11process[waypoint_manager_node-11] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.75sERRORparameter_manager_node-10process[parameter_manager_node-10] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.75sERRORmove_group-9process[move_group-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.75sERRORros2_control_node-1process[ros2_control_node-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.75sINFOvideo_server-21sending signal 'SIGTERM' to process[video_server-21] ×2 + 10.76sINFOtf2_web_republisher_node-20sending signal 'SIGTERM' to process[tf2_web_republisher_node-20] ×2 + 10.77sINFOweb_bridge-19sending signal 'SIGTERM' to process[web_bridge-19] ×2 + 10.79sINFOui_teleop_bridge-18sending signal 'SIGTERM' to process[ui_teleop_bridge-18] ×2 + 10.79sINFOvideo_server-21process has finished cleanly [pid 9100] ×2 + 10.80sINFOexecute_objective_bridge-17sending signal 'SIGTERM' to process[execute_objective_bridge-17] ×2 + 10.80sINFOlaunchprocess[web_bridge_auth_proxy-22] was required: shutting down launched system ×2 + 10.81sINFOcomponent_container_mt-16sending signal 'SIGTERM' to process[component_container_mt-16] ×2 + 10.82sINFOcomponent_container_mt-15sending signal 'SIGTERM' to process[component_container_mt-15] ×2 + 10.84sINFOobjective_server_node_main-14sending signal 'SIGTERM' to process[objective_server_node_main-14] ×2 + 10.85sINFOmove_end_effector_resampler_node-13sending signal 'SIGTERM' to process[move_end_effector_resampler_node-13] ×2 + 10.86sINFOmove_joint_resampler_node-12sending signal 'SIGTERM' to process[move_joint_resampler_node-12] ×2 + 10.88sINFOwaypoint_manager_node-11sending signal 'SIGTERM' to process[waypoint_manager_node-11] ×2 + 10.89sINFOparameter_manager_node-10sending signal 'SIGTERM' to process[parameter_manager_node-10] ×2 + 10.90sINFOmove_group-9sending signal 'SIGTERM' to process[move_group-9] ×2 + 10.92sINFOros2_control_node-1sending signal 'SIGTERM' to process[ros2_control_node-1] ×2 + 10.92sINFOcontroller_managerShutdown request received.... + 10.92sINFOcontroller_managerShutting down all controllers in the controller manager. + 10.92sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 10.92sINFOvideo_server2026/08/13 22:14:46 INF shutting down gracefully ×2 + 10.92sINFOcontroller_managerDeactivating controller 'robotiq_gripper_controller' + 10.92sINFOcontroller_managerShutting down controller 'robotiq_gripper_controller' + 10.92sINFOvideo_server2026/08/13 22:14:46 INF [WebRTC] closing ×2 + 10.92sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 10.92sINFOvideo_server2026/08/13 22:14:46 INF [RTSP] closing ×2 + 10.92sINFOvideo_server2026/08/13 22:14:46 INF waiting for running hooks ×2 + 10.92sINFOcontroller_managerDeactivating controller 'joint_trajectory_admittance_controller' + 10.92sINFOcontroller_managerShutting down controller 'joint_trajectory_admittance_controller' + 10.92sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 10.92sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 10.92sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 10.92sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 10.92sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 10.92sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.92sINFOcontroller_managerShutting down the controller manager. + 10.92sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.93sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×8 + 10.93sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' ×2 + 10.93sERRORmove_groupwhat(): context cannot be slept with because it's invalid ×2 + 10.93sERRORmove_groupStack trace (most recent call last) in thread 9337: ×2 + 10.93sWARNparameter_manager_nodeROS node was shutdown. ×2 + 10.93sERRORmove_group-9process has died [pid 9025, exit code -6, cmd '/opt/overlay_ws/install/moveit_ros_move_group/lib/moveit_ros_move_group/move_group --ros-args --log-level error --ros-args --params-file /tmp/launch_params_6l87w65p --params-file /tmp/launch_params_83l6wrgq --params-file /tmp/launch_params_oevyxmtr --params-file /tmp/launch_params_05u_clxo --params-file /tmp/launch_params_qp_gmj8g --params-file /tmp/launch_params_oeq7iloc']. ×2 + 10.93sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 10.93sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f1a5594ea63, in __clone ×2 + 10.93sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f1a558c1aa3, in ×2 + 10.93sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f1a55b53db3, in ×2 + 10.93sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so.10.0.0", at 0x7f1a562c4637, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() ×2 + 10.93sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f1a55ee5620, in rclcpp::Rate::sleep() ×2 + 10.93sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f1a55e27d18, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) ×2 + 10.93sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f1a55de9087, in ×2 + 10.93sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f1a55b22390, in __cxa_throw ×2 + 10.93sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f1a55b0ca54, in std::terminate() ×2 + 10.93sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f1a55b220d9, in ×2 + 10.93sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f1a55b0cff4, in ×2 + 10.93sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f1a5584d8fe, in abort ×2 + 10.93sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f1a5586a27d, in raise ×2 + 10.93sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f1a558c3b2c, in pthread_kill ×2 + 10.93sERRORmove_groupAborted (Signal sent by tkill() 9025 0) ×2 + 10.93sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.93sINFOros2_control_nodeShutdown request received....[0m ×2 + 10.93sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m ×2 + 10.93sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m ×2 + 10.93sINFOros2_control_nodeDeactivating controller 'robotiq_gripper_controller'[0m ×2 + 10.93sINFOros2_control_nodeShutting down controller 'robotiq_gripper_controller'[0m ×2 + 10.93sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m ×2 + 10.93sINFOros2_control_nodeDeactivating controller 'joint_trajectory_admittance_controller'[0m ×2 + 10.93sINFOros2_control_nodeShutting down controller 'joint_trajectory_admittance_controller'[0m ×2 + 10.93sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m ×2 + 10.93sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m ×2 + 10.93sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m ×2 + 10.93sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m ×2 + 10.93sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m ×2 + 10.94sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m ×2 + 10.94sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m ×2 + 10.94sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m ×2 + 10.94sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m ×2 + 10.94sINFOros2_control_nodeShutting down the controller manager.[0m ×2 + 10.94sERRORros2_control_nodeException in publisher thread: context cannot be slept with because it's invalid!. Aborting![0m ×4 + 11.13sINFOros2_control_nodeAsync messages lost 0[0m ×4 + 11.13sINFOros2_control_nodepublish_async_failures_ 2[0m ×4 + 11.16sINFOros2_control_nodeMuJoCo sim: 0.25% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 11.81sINFOtf2_web_republisher_node-20process has finished cleanly [pid 9099] ×2 + 11.82sINFOlaunchprocess[tf2_web_republisher_node-20] was required: shutting down launched system ×2 + 11.89sINFOmove_end_effector_resampler_node-13process has finished cleanly [pid 9029] ×2 + 11.90sINFOui_teleop_bridge-18process has finished cleanly [pid 9034] ×2 + 11.92sINFOmove_joint_resampler_node-12process has finished cleanly [pid 9028] ×2 + 11.92sINFOexecute_objective_bridge-17process has finished cleanly [pid 9033] ×2 + 11.92sINFOcomponent_container_mt-16process has finished cleanly [pid 9032] ×2 + 11.95sINFOwaypoint_manager_node-11process has finished cleanly [pid 9027] ×2 + 11.97sINFOparameter_manager_node-10process has finished cleanly [pid 9026] ×2 + 11.98sINFOobjective_server_nodeDropped 4 pooled inference model entry(s) at shutdown. ×2 + 12.04sINFOobjective_server_node[0;m[2026-08-13 22:14:48.059] [moveit_pro_license] [critical] ×2 + 12.04sINFOobjective_server_node************************************************* ×4 + 12.04sINFOobjective_server_node* MoveIt Pro License ×2 + 12.04sINFOobjective_server_node* ERROR Deactivating floating license! Failed Deactivation: Unknown exception setting license: 59 ×2 + 12.50sINFOobjective_server_node_main-14process has finished cleanly [pid 9030] ×2 + 12.50sINFOlaunchprocess[objective_server_node_main-14] was required: shutting down launched system ×2 + 13.03sINFOcomponent_container_mt-15process has finished cleanly [pid 9031] ×2 + 13.24sINFOweb_bridge-19process has finished cleanly [pid 9035] ×2 + 13.24sINFOlaunchprocess[web_bridge-19] was required: shutting down launched system ×2 + 13.58sINFOros2_control_node-1process has finished cleanly [pid 8988] ×2 | ||||
| ✓ passed | Stationary Admittance | stationary_admittance.xml | 11.1s | 6 errors · 60 warnings · 243 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.509655 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.509655 ms (missed cycles : 5).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.502358 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.502358 ms (missed cycles : 2).[0m ×2 + 1.82sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×6 + 1.83sERRORobjective_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: 1786659263.52475643 seconds ×3 + 1.90sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×7 + 1.90sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 1.90sINFOcontroller_managerSuccessfully switched controllers! ×14 + 1.90sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×14 + 1.90sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 1.90sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 1.90sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 1.91sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.91sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×7 + 1.91sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×14 + 1.91sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×7 + 1.91sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×14 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.674758 ms (missed cycles : 3). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.674758 ms (missed cycles : 3).[0m ×2 + 2.49sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1786659264.18153048 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.52sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.52sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.54sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.54sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.57sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1786659264.26166320 seconds ×3 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.383496 ms (missed cycles : 4). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.383496 ms (missed cycles : 4).[0m ×2 + 3.16sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1786659264.85963655 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.19sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 3.19sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1786659264.88173199 seconds ×3 + 3.90sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1786659265.59605384 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.91sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.04sINFOobjective_server_nodeFound path in 0 iterations (5.15e-07 s). ×2 + 4.04sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.05sINFOros2_control_node[2026-08-13 22:14:25.739] [info] Received new action goal ×2 + 4.05sINFOros2_control_node[2026-08-13 22:14:25.739] [info] Accepted new action goal ×2 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.418047 ms (missed cycles : 4). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.418047 ms (missed cycles : 4).[0m ×2 + 4.17sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×6 + 5.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.838287 ms (missed cycles : 2). + 5.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.838287 ms (missed cycles : 2).[0m ×2 + 6.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.122558 ms (missed cycles : 3). + 6.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.122558 ms (missed cycles : 3).[0m ×2 + 7.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.193099 ms (missed cycles : 3). + 7.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.193099 ms (missed cycles : 3).[0m ×2 + 7.37sINFOobjective_server_nodeLogMessage Info: Running admittance mode for 10 seconds ×3 + 7.38sINFOros2_control_node[2026-08-13 22:14:29.070] [info] Received new action goal ×2 + 7.38sINFOros2_control_node[2026-08-13 22:14:29.070] [info] Accepted new action goal ×2 + 7.38sINFOros2_control_node[2026-08-13 22:14:29.070] [info] Goal path tolerance override provided: 10, 10, 10, 10, 10, 10, 10 ×2 + 8.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.445283 ms (missed cycles : 3). + 8.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.445283 ms (missed cycles : 3).[0m ×2 + 9.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.801867 ms (missed cycles : 4). + 9.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.801867 ms (missed cycles : 4).[0m ×2 + 10.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.103377 ms (missed cycles : 7). + 10.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.103377 ms (missed cycles : 7).[0m ×2 + 11.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.055788 ms (missed cycles : 6). + 11.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.055788 ms (missed cycles : 6).[0m ×2 + 12.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.790282 ms (missed cycles : 2). + 12.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.790282 ms (missed cycles : 2).[0m ×2 + 13.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.500006 ms (missed cycles : 5). + 13.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.500006 ms (missed cycles : 5).[0m ×2 + 14.33sINFOros2_control_node[2026-08-13 22:14:36.026] [info] Got request to cancel active goal. ×2 + 14.33sINFOros2_control_node[2026-08-13 22:14:36.026] [info] Canceling active goal... ×2 + 14.34sERRORobjective_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: 1786659276.03077412 seconds ×3 + 14.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.878871 ms (missed cycles : 3). + 14.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.878871 ms (missed cycles : 3).[0m ×2 + 14.93sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1786659276.62529993 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.727068 ms (missed cycles : 3). + 15.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.727068 ms (missed cycles : 3).[0m ×2 + 16.27sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1786659277.96542549 seconds ×3 + 16.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.694793 ms (missed cycles : 2). + 16.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.694793 ms (missed cycles : 2).[0m ×2 + 16.86sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1786659278.55894351 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.86sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 16.86sINFOobjective_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 + 16.87sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 16.87sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1786659278.56131363 seconds ×3 | ||||
| ✓ passed | Cycle Between Waypoints | cycle_between_waypoints.xml | 11.1s | 3 errors · 57 warnings · 164 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.17 s); wrist_camera (1.17 s). The render path has stopped producing new frames for them.[0m ×2 + 0.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.980539 ms (missed cycles : 2). + 0.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.980539 ms (missed cycles : 2).[0m ×2 + 0.93sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.93sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.613787 ms (missed cycles : 4). + 1.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.613787 ms (missed cycles : 4).[0m ×2 + 1.44sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 1.44sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.45sINFOros2_control_node[2026-08-13 22:10:09.937] [info] Received new action goal ×2 + 1.45sINFOros2_control_node[2026-08-13 22:10:09.937] [info] Accepted new action goal ×2 + 2.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.949310 ms (missed cycles : 2). + 2.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.949310 ms (missed cycles : 2).[0m ×2 + 2.84sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1786659011.32352805 seconds ×3 + 2.84sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 2.84sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.84sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 2.84sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.84sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.84sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.85sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.85sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.85sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 2.85sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 2.85sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 2.85sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 3.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.005856 ms (missed cycles : 3). + 3.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.005856 ms (missed cycles : 3).[0m ×2 + 3.46sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1786659011.94726753 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1786659011.99740314 seconds ×3 + 4.16sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1786659012.64167285 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.17sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×18 + 4.27sINFOobjective_server_nodeFound path in 0 iterations (2.86e-07 s). ×2 + 4.27sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.28sINFOros2_control_node[2026-08-13 22:10:12.766] [info] Received new action goal ×2 + 4.28sINFOros2_control_node[2026-08-13 22:10:12.766] [info] Accepted new action goal ×2 + 4.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.546671 ms (missed cycles : 5). + 4.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.546671 ms (missed cycles : 5).[0m ×2 + 5.37sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 5.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.867324 ms (missed cycles : 3). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.867324 ms (missed cycles : 3).[0m ×2 + 6.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.005536 ms (missed cycles : 3). + 6.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.005536 ms (missed cycles : 3).[0m ×2 + 7.62sINFOobjective_server_nodeFound path in 0 iterations (4.21e-07 s). ×2 + 7.62sINFOobjective_server_nodePath shortcutter: [X_______X] ×6 + 7.63sINFOros2_control_node[2026-08-13 22:10:16.115] [info] Received new action goal ×2 + 7.63sINFOros2_control_node[2026-08-13 22:10:16.115] [info] Accepted new action goal ×2 + 7.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.970612 ms (missed cycles : 2). + 7.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.970612 ms (missed cycles : 2).[0m ×2 + 8.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.166038 ms (missed cycles : 4). + 8.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.166038 ms (missed cycles : 4).[0m ×2 + 9.97sINFOobjective_server_nodeFound path in 0 iterations (3.27e-07 s). ×2 + 9.98sINFOros2_control_node[2026-08-13 22:10:18.463] [info] Received new action goal ×2 + 9.98sINFOros2_control_node[2026-08-13 22:10:18.463] [info] Accepted new action goal ×2 + 10.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.872919 ms (missed cycles : 5). + 10.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.872919 ms (missed cycles : 5).[0m ×2 + 11.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.139702 ms (missed cycles : 2). + 11.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.139702 ms (missed cycles : 2).[0m ×2 + 12.01sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 12.32sINFOobjective_server_nodeFound path in 0 iterations (4e-07 s). ×2 + 12.33sINFOros2_control_node[2026-08-13 22:10:20.813] [info] Received new action goal ×2 + 12.33sINFOros2_control_node[2026-08-13 22:10:20.813] [info] Accepted new action goal ×2 + 12.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.061524 ms (missed cycles : 7). + 12.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.061524 ms (missed cycles : 7).[0m ×2 + 13.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.526912 ms (missed cycles : 4). + 13.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.526912 ms (missed cycles : 4).[0m ×2 + 14.57sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.58sERRORobjective_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: 1786659023.06181598 seconds ×3 + 14.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.170330 ms (missed cycles : 6). + 14.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.170330 ms (missed cycles : 6).[0m ×2 + 15.22sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1786659023.70290136 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.41sINFOobjective_server_nodeFound path in 0 iterations (4.39e-07 s). ×2 + 15.41sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 15.42sINFOros2_control_node[2026-08-13 22:10:23.906] [info] Received new action goal ×2 + 15.42sINFOros2_control_node[2026-08-13 22:10:23.906] [info] Accepted new action goal ×2 + 16.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.648099 ms (missed cycles : 5). + 16.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.648099 ms (missed cycles : 5).[0m ×2 + 17.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.793760 ms (missed cycles : 3). + 17.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.793760 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Grasp Pose Using Yaml | grasp_pose_using_yaml.xml | 11.0s | 9 errors · 60 warnings · 170 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.791016 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.791016 ms (missed cycles : 3).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.295897 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.295897 ms (missed cycles : 2).[0m ×2 + 1.04sINFOparameter_manager_nodeRetrieving pose from parameter manager. ×3 + 1.32sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal. + 1.32sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal.[0m ×2 + 1.33sERRORobjective_server_nodeDoTeleoperateAction Error: Failed to send goal request to action server: Goal request was rejected by the action server ×3 + 1.34sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Tuning With April Tag` did not succeed at time: 1786659031.55472469 seconds ×3 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.151741 ms (missed cycles : 5). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.151741 ms (missed cycles : 5).[0m ×2 + 2.31sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.17 s); wrist_camera (1.17 s). The render path has stopped producing new frames for them.[0m ×2 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.212381 ms (missed cycles : 5). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.212381 ms (missed cycles : 5).[0m ×2 + 3.80sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.81sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.81sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.81sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.81sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.81sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.81sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.81sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.81sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.81sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.82sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.82sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.638989 ms (missed cycles : 3). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.638989 ms (missed cycles : 3).[0m ×2 + 4.42sINFOobjective_server_nodeObjective `Grasp Pose Using Yaml` starting at time: 1786659034.63686466 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.42sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 4.42sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 4.52sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 4.62sINFOobjective_server_nodeFound path in 0 iterations (1.0521e-05 s). ×2 + 4.62sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.62sINFOros2_control_node[2026-08-13 22:10:34.841] [info] Received new action goal ×2 + 4.62sINFOros2_control_node[2026-08-13 22:10:34.841] [info] Accepted new action goal ×2 + 5.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.059026 ms (missed cycles : 5). + 5.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.059026 ms (missed cycles : 5).[0m ×2 + 6.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826725 ms (missed cycles : 2). + 6.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826725 ms (missed cycles : 2).[0m ×2 + 7.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.015219 ms (missed cycles : 6). + 7.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.015219 ms (missed cycles : 6).[0m ×2 + 8.36sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 8.41sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 8.41sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 ×2 + 8.42sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 8.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.937999 ms (missed cycles : 3). + 8.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.937999 ms (missed cycles : 3).[0m ×2 + 8.70sINFOobjective_server_nodeFound path in 0 iterations (3.69e-07 s). ×2 + 8.70sINFOobjective_server_nodePath shortcutter: [X__________X] ×2 + 8.70sINFOobjective_server_nodeFound path in 0 iterations (3.17e-07 s). ×2 + 8.71sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 8.72sINFOobjective_server_nodeFound path in 0 iterations (2.52e-07 s). ×2 + 8.76sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X] ×2 + 8.78sINFOobjective_server_nodeFound path in 0 iterations (4.3e-07 s). ×2 + 8.82sINFOobjective_server_nodePath shortcutter: [X________________________________________________X] ×2 + 8.84sINFOobjective_server_nodeFound path in 1 iterations (0.00266484 s). ×2 + 8.95sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________________________X____________X] ×2 + 8.98sINFOobjective_server_nodeFound path in 1 iterations (0.00570741 s). ×2 + 9.07sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________X_________________________X] ×2 + 9.09sINFOobjective_server_nodeFound path in 0 iterations (4.15e-07 s). ×2 + 9.20sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________X] ×2 + 9.23sINFOobjective_server_nodeFound path in 0 iterations (4.09e-07 s). ×2 + 9.33sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________X] ×2 + 9.46sINFOros2_control_node[2026-08-13 22:10:39.675] [info] Received new action goal ×2 + 9.46sINFOros2_control_node[2026-08-13 22:10:39.675] [info] Accepted new action goal ×2 + 9.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.114605 ms (missed cycles : 3). + 9.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.114605 ms (missed cycles : 3).[0m ×2 + 10.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.204698 ms (missed cycles : 2). + 10.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.204698 ms (missed cycles : 2).[0m ×2 + 11.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.209743 ms (missed cycles : 2). + 11.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.209743 ms (missed cycles : 2).[0m ×2 + 12.04sINFOobjective_server_nodeFound path in 0 iterations (3.72e-07 s). ×2 + 12.04sINFOobjective_server_nodePath shortcutter: [X_X] ×2 + 12.05sINFOobjective_server_nodeFound path in 0 iterations (2.16e-07 s). ×2 + 12.05sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 12.06sINFOobjective_server_nodeFound path in 0 iterations (2.32e-07 s). ×2 + 12.11sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 12.13sINFOobjective_server_nodeFound path in 1 iterations (0.00339069 s). ×2 + 12.25sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________X____________X] ×2 + 12.32sINFOros2_control_node[2026-08-13 22:10:42.532] [info] Received new action goal ×2 + 12.32sINFOros2_control_node[2026-08-13 22:10:42.532] [info] Accepted new action goal ×2 + 12.75sINFOros2_control_node[2026-08-13 22:10:42.964] [info] Received new action goal ×2 + 12.75sINFOros2_control_node[2026-08-13 22:10:42.964] [info] Accepted new action goal ×2 + 12.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.601806 ms (missed cycles : 5). + 12.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.601806 ms (missed cycles : 5).[0m ×2 + 14.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.189531 ms (missed cycles : 2). + 14.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.189531 ms (missed cycles : 2).[0m ×2 + 14.35sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×2 + 14.80sINFOobjective_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 + 14.81sINFOrobotiq_gripper_controllerGot request to cancel goal + 14.81sINFOrobotiq_gripper_controllerCanceling active action goal because cancel callback received. + 14.81sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 14.81sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 14.83sERRORobjective_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: 1786659045.05063272 seconds ×3 + 15.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.216801 ms (missed cycles : 5). + 15.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.216801 ms (missed cycles : 5).[0m ×2 + 15.64sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1786659045.86094737 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.82sINFOobjective_server_nodeFound path in 0 iterations (4.35e-07 s). ×2 + 15.83sINFOros2_control_node[2026-08-13 22:10:46.045] [info] Received new action goal ×2 + 15.83sINFOros2_control_node[2026-08-13 22:10:46.045] [info] Accepted new action goal ×2 + 16.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.986163 ms (missed cycles : 5). + 16.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.986163 ms (missed cycles : 5).[0m ×2 + 16.95sINFOros2_control_nodeMuJoCo sim: 0.20% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 17.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.650270 ms (missed cycles : 3). + 17.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.650270 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Plan and Save Trajectory | plan_and_save_trajectory.xml | 10.9s | 6 errors · 63 warnings · 107 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.27% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.065836 ms (missed cycles : 6). + 0.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.065836 ms (missed cycles : 6).[0m ×2 + 0.90sINFOros2_control_node[2026-08-13 22:13:48.068] [info] Received new action goal ×2 + 0.90sINFOros2_control_node[2026-08-13 22:13:48.068] [info] Accepted new action goal ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.160137 ms (missed cycles : 2). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.160137 ms (missed cycles : 2).[0m ×2 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.036914 ms (missed cycles : 2). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.036914 ms (missed cycles : 2).[0m ×2 + 2.29sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.29sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.66sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×2 + 2.80sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×6 + 2.80sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.81sINFOros2_control_node[2026-08-13 22:13:49.984] [info] Received new action goal ×2 + 2.81sINFOros2_control_node[2026-08-13 22:13:49.984] [info] Accepted new action goal ×2 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.545231 ms (missed cycles : 5). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.545231 ms (missed cycles : 5).[0m ×2 + 3.84sINFOobjective_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 + 3.85sINFOros2_control_node[2026-08-13 22:13:51.021] [info] Got request to cancel active goal. ×2 + 3.85sINFOros2_control_node[2026-08-13 22:13:51.021] [info] Canceling active goal... ×2 + 3.86sERRORobjective_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: 1786659231.03533483 seconds ×3 + 3.91sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.91sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.91sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.91sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.91sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.91sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.92sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.92sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.92sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.92sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.92sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.92sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.164324 ms (missed cycles : 2). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.164324 ms (missed cycles : 2).[0m ×2 + 4.53sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1786659231.70068002 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.60sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.69sINFOobjective_server_nodeFound path in 0 iterations (9.31e-07 s). ×2 + 4.69sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.70sINFOros2_control_node[2026-08-13 22:13:51.874] [info] Received new action goal ×2 + 4.70sINFOros2_control_node[2026-08-13 22:13:51.874] [info] Accepted new action goal ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.530778 ms (missed cycles : 4). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.530778 ms (missed cycles : 4).[0m ×2 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.685965 ms (missed cycles : 6). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.685965 ms (missed cycles : 6).[0m ×2 + 6.61sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 7.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.924158 ms (missed cycles : 2). + 7.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.924158 ms (missed cycles : 2).[0m ×2 + 8.36sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.17 s); wrist_camera (1.17 s). The render path has stopped producing new frames for them.[0m ×2 + 8.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.651435 ms (missed cycles : 3). + 8.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.651435 ms (missed cycles : 3).[0m ×2 + 9.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.583893 ms (missed cycles : 3). + 9.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.583893 ms (missed cycles : 3).[0m ×2 + 10.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.248114 ms (missed cycles : 4). + 10.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.248114 ms (missed cycles : 4).[0m ×2 + 11.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828349 ms (missed cycles : 2). + 11.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828349 ms (missed cycles : 2).[0m ×2 + 12.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.100607 ms (missed cycles : 2). + 12.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.100607 ms (missed cycles : 2).[0m ×2 + 13.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.045795 ms (missed cycles : 2). + 13.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.045795 ms (missed cycles : 2).[0m ×2 + 14.36sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 14.85sERRORobjective_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: 1786659242.02109051 seconds ×3 + 15.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.918196 ms (missed cycles : 3). + 15.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.918196 ms (missed cycles : 3).[0m ×2 + 15.54sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1786659242.71281052 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.81sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 15.82sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 15.83sINFOros2_control_node[2026-08-13 22:14:03.005] [info] Received new action goal ×2 + 15.83sINFOros2_control_node[2026-08-13 22:14:03.005] [info] Accepted new action goal ×2 + 16.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.315016 ms (missed cycles : 5). + 16.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.315016 ms (missed cycles : 5).[0m ×2 + 17.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.006300 ms (missed cycles : 2). + 17.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.006300 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Record and Replay Scanning Motion | record_and_replay_scanning_motion.xml | 10.9s | 3 errors · 60 warnings · 176 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.429074 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.429074 ms (missed cycles : 6).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.949579 ms (missed cycles : 4). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.949579 ms (missed cycles : 4).[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.392004 ms (missed cycles : 4). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.392004 ms (missed cycles : 4).[0m ×2 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.667970 ms (missed cycles : 3). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.667970 ms (missed cycles : 3).[0m ×2 + 3.65sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1786659252.59807181 seconds ×3 + 3.66sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×5 + 3.66sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×10 + 3.66sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 3.66sINFOcontroller_managerSuccessfully switched controllers! ×10 + 3.66sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 3.66sINFOros2_control_nodeSuccessfully switched controllers![0m ×20 + 3.67sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×10 + 3.67sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 3.68sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×5 + 3.68sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×10 + 3.68sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×5 + 3.68sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×10 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.675386 ms (missed cycles : 5). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.675386 ms (missed cycles : 5).[0m ×2 + 4.26sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1786659253.20444703 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.28sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.38sINFOobjective_server_nodeFound path in 0 iterations (3.11e-07 s). ×2 + 4.38sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.39sINFOros2_control_node[2026-08-13 22:14:13.338] [info] Received new action goal ×2 + 4.39sINFOros2_control_node[2026-08-13 22:14:13.338] [info] Accepted new action goal ×2 + 4.83sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.872309 ms (missed cycles : 4). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.872309 ms (missed cycles : 4).[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.689335 ms (missed cycles : 2). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.689335 ms (missed cycles : 2).[0m ×2 + 6.30sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.30sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 7.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.866976 ms (missed cycles : 4). + 7.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.866976 ms (missed cycles : 4).[0m ×2 + 8.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.030809 ms (missed cycles : 4). + 8.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.030809 ms (missed cycles : 4).[0m ×2 + 9.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.087812 ms (missed cycles : 3). + 9.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.087812 ms (missed cycles : 3).[0m ×2 + 10.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.794318 ms (missed cycles : 2). + 10.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.794318 ms (missed cycles : 2).[0m ×2 + 10.83sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 11.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.166642 ms (missed cycles : 2). + 11.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.166642 ms (missed cycles : 2).[0m ×2 + 12.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.509655 ms (missed cycles : 5). + 12.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.509655 ms (missed cycles : 5).[0m ×2 + 13.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.502358 ms (missed cycles : 2). + 13.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.502358 ms (missed cycles : 2).[0m ×2 + 14.57sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.58sERRORobjective_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: 1786659263.52475643 seconds ×3 + 14.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.674758 ms (missed cycles : 3). + 14.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.674758 ms (missed cycles : 3).[0m ×2 + 15.23sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1786659264.18153048 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.27sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 15.27sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 15.29sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 15.29sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 15.31sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1786659264.26166320 seconds ×3 + 15.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.383496 ms (missed cycles : 4). + 15.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.383496 ms (missed cycles : 4).[0m ×2 + 15.91sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1786659264.85963655 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.93sINFOobjective_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 + 15.93sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1786659264.88173199 seconds ×3 + 16.65sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1786659265.59605384 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.79sINFOobjective_server_nodeFound path in 0 iterations (5.15e-07 s). ×2 + 16.79sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 16.79sINFOros2_control_node[2026-08-13 22:14:25.739] [info] Received new action goal ×2 + 16.79sINFOros2_control_node[2026-08-13 22:14:25.739] [info] Accepted new action goal ×2 + 16.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.418047 ms (missed cycles : 4). + 16.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.418047 ms (missed cycles : 4).[0m ×2 + 16.91sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 | ||||
| ✓ passed | Grasp Pose Tuning With April Tag | grasp_pose_tuning_with_april_tag.xml | 10.9s | 9 errors · 57 warnings · 149 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.139702 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.139702 ms (missed cycles : 2).[0m ×2 + 0.62sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×4 + 0.84sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×15 + 0.93sINFOobjective_server_nodeFound path in 0 iterations (4e-07 s). ×2 + 0.93sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.94sINFOros2_control_node[2026-08-13 22:10:20.813] [info] Received new action goal ×2 + 0.94sINFOros2_control_node[2026-08-13 22:10:20.813] [info] Accepted new action goal ×2 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.061524 ms (missed cycles : 7). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.061524 ms (missed cycles : 7).[0m ×2 + 2.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.526912 ms (missed cycles : 4). + 2.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.526912 ms (missed cycles : 4).[0m ×2 + 3.18sINFOobjective_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 + 3.19sERRORobjective_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: 1786659023.06181598 seconds ×3 + 3.24sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.24sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.24sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.24sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.24sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.24sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.24sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.25sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.25sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.25sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.25sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.170330 ms (missed cycles : 6). + 3.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.170330 ms (missed cycles : 6).[0m ×2 + 3.83sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1786659023.70290136 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.83sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.83sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 4.02sINFOobjective_server_nodeFound path in 0 iterations (4.39e-07 s). ×2 + 4.02sINFOobjective_server_nodePath shortcutter: [X______X] ×4 + 4.03sINFOros2_control_node[2026-08-13 22:10:23.906] [info] Received new action goal ×2 + 4.03sINFOros2_control_node[2026-08-13 22:10:23.906] [info] Accepted new action goal ×2 + 4.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.648099 ms (missed cycles : 5). + 4.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.648099 ms (missed cycles : 5).[0m ×2 + 6.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.793760 ms (missed cycles : 3). + 6.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.793760 ms (missed cycles : 3).[0m ×2 + 7.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.642634 ms (missed cycles : 6). + 7.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.642634 ms (missed cycles : 6).[0m ×2 + 7.90sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 7.90sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 ×2 + 7.91sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 8.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.370183 ms (missed cycles : 2). + 8.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.370183 ms (missed cycles : 2).[0m ×2 + 8.19sINFOobjective_server_nodeFound path in 0 iterations (4.01e-07 s). ×2 + 8.20sINFOobjective_server_nodePath shortcutter: [X__________X] ×2 + 8.20sINFOobjective_server_nodeFound path in 0 iterations (2.39e-07 s). ×2 + 8.21sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 8.22sINFOobjective_server_nodeFound path in 0 iterations (2.24e-07 s). ×2 + 8.26sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X] ×2 + 8.28sINFOobjective_server_nodeFound path in 0 iterations (8.27e-07 s). ×2 + 8.33sINFOobjective_server_nodePath shortcutter: [X________________________________________________X] ×2 + 8.36sINFOobjective_server_nodeFound path in 1 iterations (0.00265846 s). ×2 + 8.46sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________________________X____________X] ×2 + 8.48sINFOobjective_server_nodeFound path in 1 iterations (0.00478988 s). ×2 + 8.57sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________X_________________________X] ×2 + 8.59sINFOobjective_server_nodeFound path in 0 iterations (4.25e-07 s). ×2 + 8.70sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________X] ×2 + 8.73sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). ×2 + 8.83sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________X] ×2 + 8.96sINFOros2_control_node[2026-08-13 22:10:28.829] [info] Received new action goal ×2 + 8.96sINFOros2_control_node[2026-08-13 22:10:28.829] [info] Accepted new action goal ×2 + 9.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.991988 ms (missed cycles : 5). + 9.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.991988 ms (missed cycles : 5).[0m ×2 + 10.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.791016 ms (missed cycles : 3). + 10.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.791016 ms (missed cycles : 3).[0m ×2 + 11.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.295897 ms (missed cycles : 2). + 11.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.295897 ms (missed cycles : 2).[0m ×2 + 11.38sINFOparameter_manager_nodeRetrieving pose from parameter manager. ×3 + 11.66sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal. + 11.67sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal.[0m ×2 + 11.67sERRORobjective_server_nodeDoTeleoperateAction Error: Failed to send goal request to action server: Goal request was rejected by the action server ×3 + 11.68sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Tuning With April Tag` did not succeed at time: 1786659031.55472469 seconds ×3 + 12.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.151741 ms (missed cycles : 5). + 12.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.151741 ms (missed cycles : 5).[0m ×2 + 12.66sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.17 s); wrist_camera (1.17 s). The render path has stopped producing new frames for them.[0m ×2 + 13.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.212381 ms (missed cycles : 5). + 13.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.212381 ms (missed cycles : 5).[0m ×2 + 14.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.638989 ms (missed cycles : 3). + 14.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.638989 ms (missed cycles : 3).[0m ×2 + 14.76sINFOobjective_server_nodeObjective `Grasp Pose Using Yaml` starting at time: 1786659034.63686466 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.96sINFOobjective_server_nodeFound path in 0 iterations (1.0521e-05 s). ×2 + 14.97sINFOros2_control_node[2026-08-13 22:10:34.841] [info] Received new action goal ×2 + 14.97sINFOros2_control_node[2026-08-13 22:10:34.841] [info] Accepted new action goal ×2 + 15.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.059026 ms (missed cycles : 5). + 15.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.059026 ms (missed cycles : 5).[0m ×2 + 16.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826725 ms (missed cycles : 2). + 16.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826725 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Pick April Tag Labeled Object With Approval | pick_april_tag_object_with_approval.xml | 10.8s | 3 errors · 60 warnings · 145 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.357440 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.357440 ms (missed cycles : 5).[0m ×2 + 0.63sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.793997 ms (missed cycles : 5). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.793997 ms (missed cycles : 5).[0m ×2 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.963841 ms (missed cycles : 2). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.963841 ms (missed cycles : 2).[0m ×2 + 2.27sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 2.27sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 3.08sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` succeeded at time: 1786659220.24881601 seconds ×3 + 3.12sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.12sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.12sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.12sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.12sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.12sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.12sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.13sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.13sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.14sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.14sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.496376 ms (missed cycles : 5). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.496376 ms (missed cycles : 5).[0m ×2 + 3.76sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1786659220.93082786 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.89sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 4.03sINFOobjective_server_nodeFound path in 0 iterations (4.77e-07 s). ×2 + 4.03sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.05sINFOros2_control_node[2026-08-13 22:13:41.215] [info] Received new action goal ×2 + 4.05sINFOros2_control_node[2026-08-13 22:13:41.216] [info] Accepted new action goal ×2 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.713530 ms (missed cycles : 3). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.713530 ms (missed cycles : 3).[0m ×2 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.068552 ms (missed cycles : 2). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.068552 ms (missed cycles : 2).[0m ×2 + 6.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.524754 ms (missed cycles : 3). + 6.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.524754 ms (missed cycles : 3).[0m ×2 + 6.58sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 7.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.182788 ms (missed cycles : 3). + 7.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.182788 ms (missed cycles : 3).[0m ×2 + 7.87sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 7.88sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 ×2 + 7.88sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 8.16sINFOobjective_server_nodeFound path in 0 iterations (3.11e-07 s). ×2 + 8.16sINFOobjective_server_nodePath shortcutter: [X__________X] ×2 + 8.17sINFOobjective_server_nodeFound path in 0 iterations (2.57e-07 s). ×2 + 8.17sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 8.18sINFOobjective_server_nodeFound path in 0 iterations (4.85e-07 s). ×2 + 8.23sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X] ×2 + 8.25sINFOobjective_server_nodeFound path in 1 iterations (0.00322224 s). ×2 + 8.35sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X_____________X] ×2 + 8.40sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×3 + 8.43sINFOros2_control_node[2026-08-13 22:13:45.596] [info] Received new action goal ×2 + 8.43sINFOros2_control_node[2026-08-13 22:13:45.596] [info] Accepted new action goal ×2 + 8.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.788040 ms (missed cycles : 2). + 8.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.788040 ms (missed cycles : 2).[0m ×2 + 10.00sINFOros2_control_nodeMuJoCo sim: 0.27% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 10.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.065836 ms (missed cycles : 6). + 10.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.065836 ms (missed cycles : 6).[0m ×2 + 10.90sINFOros2_control_node[2026-08-13 22:13:48.068] [info] Received new action goal ×2 + 10.90sINFOros2_control_node[2026-08-13 22:13:48.068] [info] Accepted new action goal ×2 + 11.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.160137 ms (missed cycles : 2). + 11.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.160137 ms (missed cycles : 2).[0m ×2 + 12.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.036914 ms (missed cycles : 2). + 12.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.036914 ms (missed cycles : 2).[0m ×2 + 12.66sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×2 + 12.80sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×6 + 12.80sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 12.81sINFOros2_control_node[2026-08-13 22:13:49.984] [info] Received new action goal ×2 + 12.81sINFOros2_control_node[2026-08-13 22:13:49.984] [info] Accepted new action goal ×2 + 13.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.545231 ms (missed cycles : 5). + 13.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.545231 ms (missed cycles : 5).[0m ×2 + 13.85sINFOobjective_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 + 13.85sINFOros2_control_node[2026-08-13 22:13:51.021] [info] Got request to cancel active goal. ×2 + 13.85sINFOros2_control_node[2026-08-13 22:13:51.021] [info] Canceling active goal... ×2 + 13.86sERRORobjective_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: 1786659231.03533483 seconds ×3 + 14.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.164324 ms (missed cycles : 2). + 14.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.164324 ms (missed cycles : 2).[0m ×2 + 14.53sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1786659231.70068002 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.70sINFOobjective_server_nodeFound path in 0 iterations (9.31e-07 s). ×2 + 14.70sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 14.70sINFOros2_control_node[2026-08-13 22:13:51.874] [info] Received new action goal ×2 + 14.71sINFOros2_control_node[2026-08-13 22:13:51.874] [info] Accepted new action goal ×2 + 15.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.530778 ms (missed cycles : 4). + 15.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.530778 ms (missed cycles : 4).[0m ×2 + 16.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.685965 ms (missed cycles : 6). + 16.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.685965 ms (missed cycles : 6).[0m ×2 + 16.61sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| ✓ passed | 3 Waypoints Pick and Place | 3_waypoint_pick_and_place.xml | 10.7s | 3 errors · 56 warnings · 332 info |
+ 0.00sWARNros2_control_nodeCamera render tick took 1.83 s (budget 0.100 s, EGL vendor 'Mesa Project'). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.16sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786658981.33603382 seconds ×3 + 0.20sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.20sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.20sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.20sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 0.20sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.21sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.21sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.21sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.21sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.183569 ms (missed cycles : 2). + 0.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.183569 ms (missed cycles : 2).[0m ×2 + 0.78sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786658981.95932627 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.78sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×4 + 0.78sINFOros2_control_nodeReceived & accepted new action goal[0m ×8 + 0.84sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786658982.01949716 seconds ×3 + 1.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.648168 ms (missed cycles : 4). + 1.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.648168 ms (missed cycles : 4).[0m ×2 + 1.50sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786658982.67854762 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.52sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786658982.69866109 seconds ×3 + 2.24sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786658983.41888142 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.39sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786658983.56966352 seconds ×3 + 2.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.556631 ms (missed cycles : 2). + 2.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.556631 ms (missed cycles : 2).[0m ×2 + 2.53sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 3.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786658984.25855422 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.09sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.09sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.12sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.12sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.12sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.13sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786658984.30869198 seconds ×3 + 3.73sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786658984.91084266 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.728162 ms (missed cycles : 2). + 3.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.728162 ms (missed cycles : 2).[0m ×2 + 3.74sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.74sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.74sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.74sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.74sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.75sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.75sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.75sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.75sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.85sINFOobjective_server_nodeFound path in 0 iterations (8.5289e-05 s). ×2 + 3.85sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.87sINFOros2_control_node[2026-08-13 22:09:45.047] [info] Received new action goal ×2 + 3.87sINFOros2_control_node[2026-08-13 22:09:45.047] [info] Accepted new action goal ×2 + 4.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.978946 ms (missed cycles : 2). + 4.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.978946 ms (missed cycles : 2).[0m ×2 + 5.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.620604 ms (missed cycles : 2). + 5.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.620604 ms (missed cycles : 2).[0m ×2 + 5.99sINFOros2_control_nodeMuJoCo sim: 0.21% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.26sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 6.38sINFOobjective_server_nodeFound path in 0 iterations (3.29e-07 s). ×2 + 6.38sINFOobjective_server_nodePath shortcutter: [X__________________X] ×4 + 6.40sINFOros2_control_node[2026-08-13 22:09:47.575] [info] Received new action goal ×2 + 6.40sINFOros2_control_node[2026-08-13 22:09:47.575] [info] Accepted new action goal ×2 + 6.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.452499 ms (missed cycles : 2). + 6.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.452499 ms (missed cycles : 2).[0m ×2 + 8.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.270708 ms (missed cycles : 5). + 8.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.270708 ms (missed cycles : 5).[0m ×2 + 8.63sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 9.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.537497 ms (missed cycles : 4). + 9.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.537497 ms (missed cycles : 4).[0m ×2 + 10.12sINFOobjective_server_nodeFound path in 0 iterations (4.05e-07 s). ×2 + 10.14sINFOros2_control_node[2026-08-13 22:09:51.315] [info] Received new action goal ×2 + 10.14sINFOros2_control_node[2026-08-13 22:09:51.315] [info] Accepted new action goal ×2 + 10.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.698275 ms (missed cycles : 3). + 10.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.698275 ms (missed cycles : 3).[0m ×2 + 11.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.567903 ms (missed cycles : 2). + 11.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.567903 ms (missed cycles : 2).[0m ×2 + 12.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.493811 ms (missed cycles : 2). + 12.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.493811 ms (missed cycles : 2).[0m ×2 + 13.45sINFOobjective_server_nodeFound path in 0 iterations (3.24e-07 s). ×2 + 13.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.003910 ms (missed cycles : 3). + 13.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.003910 ms (missed cycles : 3).[0m ×2 + 13.45sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 13.47sINFOros2_control_node[2026-08-13 22:09:54.645] [info] Received new action goal ×2 + 13.47sINFOros2_control_node[2026-08-13 22:09:54.645] [info] Accepted new action goal ×2 + 13.84sINFOobjective_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 + 13.84sINFOros2_control_node[2026-08-13 22:09:55.021] [info] Got request to cancel active goal. ×2 + 13.84sINFOros2_control_node[2026-08-13 22:09:55.021] [info] Canceling active goal... ×2 + 13.86sERRORobjective_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: 1786658995.03684425 seconds ×3 + 13.87sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 13.87sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 13.88sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 13.88sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 13.88sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 13.88sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 14.50sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1786658995.67930222 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.307591 ms (missed cycles : 2). + 14.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.307591 ms (missed cycles : 2).[0m ×2 + 14.61sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1786658995.78942370 seconds ×3 + 14.62sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 15.21sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1786658996.39309120 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.41sINFOobjective_server_nodeFound path in 0 iterations (4.85e-07 s). ×2 + 15.41sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 15.42sINFOros2_control_node[2026-08-13 22:09:56.596] [info] Received new action goal ×2 + 15.42sINFOros2_control_node[2026-08-13 22:09:56.596] [info] Accepted new action goal ×2 + 15.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.921710 ms (missed cycles : 2). + 15.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.921710 ms (missed cycles : 2).[0m ×2 + 16.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.080196 ms (missed cycles : 3). + 16.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.080196 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Playback Square Trajectory | playback_square_trajectory.xml | 10.6s | 3 errors · 57 warnings · 91 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828349 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828349 ms (missed cycles : 2).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.100607 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.100607 ms (missed cycles : 2).[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.045795 ms (missed cycles : 2). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.045795 ms (missed cycles : 2).[0m ×2 + 2.55sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×4 + 3.03sINFOobjective_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 + 3.04sERRORobjective_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: 1786659242.02109051 seconds ×3 + 3.14sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.14sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.14sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.14sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.14sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.14sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.15sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.15sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.15sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.16sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.16sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.918196 ms (missed cycles : 3). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.918196 ms (missed cycles : 3).[0m ×2 + 3.73sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1786659242.71281052 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.90sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.00sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 4.01sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 4.02sINFOros2_control_node[2026-08-13 22:14:03.005] [info] Received new action goal ×2 + 4.02sINFOros2_control_node[2026-08-13 22:14:03.005] [info] Accepted new action goal ×2 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.315016 ms (missed cycles : 5). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.315016 ms (missed cycles : 5).[0m ×2 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.006300 ms (missed cycles : 2). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.006300 ms (missed cycles : 2).[0m ×2 + 6.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.279653 ms (missed cycles : 3). + 6.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.279653 ms (missed cycles : 3).[0m ×2 + 7.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.552981 ms (missed cycles : 5). + 7.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.552981 ms (missed cycles : 5).[0m ×2 + 8.03sINFOros2_control_node[2026-08-13 22:14:07.013] [info] Received new action goal ×2 + 8.03sINFOros2_control_node[2026-08-13 22:14:07.013] [info] Accepted new action goal ×2 + 8.83sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.40 s); wrist_camera (1.40 s). The render path has stopped producing new frames for them.[0m ×2 + 8.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.926611 ms (missed cycles : 3). + 8.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.926611 ms (missed cycles : 3).[0m ×2 + 9.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.429074 ms (missed cycles : 6). + 9.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.429074 ms (missed cycles : 6).[0m ×2 + 10.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.949579 ms (missed cycles : 4). + 11.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.949579 ms (missed cycles : 4).[0m ×2 + 12.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.392004 ms (missed cycles : 4). + 12.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.392004 ms (missed cycles : 4).[0m ×2 + 13.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.667970 ms (missed cycles : 3). + 13.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.667970 ms (missed cycles : 3).[0m ×2 + 13.61sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1786659252.59807181 seconds ×3 + 14.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.675386 ms (missed cycles : 5). + 14.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.675386 ms (missed cycles : 5).[0m ×2 + 14.22sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1786659253.20444703 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.34sINFOobjective_server_nodeFound path in 0 iterations (3.11e-07 s). ×2 + 14.34sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 14.35sINFOros2_control_node[2026-08-13 22:14:13.338] [info] Received new action goal ×2 + 14.35sINFOros2_control_node[2026-08-13 22:14:13.338] [info] Accepted new action goal ×2 + 15.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.872309 ms (missed cycles : 4). + 15.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.872309 ms (missed cycles : 4).[0m ×2 + 16.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.689335 ms (missed cycles : 2). + 16.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.689335 ms (missed cycles : 2).[0m ×2 + 16.26sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 16.26sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| ✓ passed | ML Segment Bottles from File | ml_segment_bottles_from_file.xml | 7.2s | 43 warnings · 179 info |
+ 0.00sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1786659057.79367590 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.03sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.03sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.03sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.04sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.05sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 0.05sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.05sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.06sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.06sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.07sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1786659057.86380720 seconds ×3 + 0.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 0.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 0.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.68sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1786659058.47133780 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.69sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.78sINFOobjective_server_nodeFound path in 0 iterations (3.12e-07 s). ×2 + 0.78sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.79sINFOros2_control_node[2026-08-13 22:10:58.586] [info] Received new action goal ×2 + 0.79sINFOros2_control_node[2026-08-13 22:10:58.586] [info] Accepted new action goal ×2 + 0.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.341144 ms (missed cycles : 5). + 0.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.341144 ms (missed cycles : 5).[0m ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.994929 ms (missed cycles : 5). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.994929 ms (missed cycles : 5).[0m ×2 + 2.80sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1786659060.59146261 seconds ×3 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706247 ms (missed cycles : 2). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706247 ms (missed cycles : 2).[0m ×2 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.149269 ms (missed cycles : 6). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.149269 ms (missed cycles : 6).[0m ×2 + 4.41sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1786659062.20006752 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.04sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.32 s); wrist_camera (1.32 s). The render path has stopped producing new frames for them.[0m ×2 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.539586 ms (missed cycles : 3). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.539586 ms (missed cycles : 3).[0m ×2 + 5.96sINFOobjective_server_node[2026-08-13 22:11:03.756] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 6.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.848189 ms (missed cycles : 4). + 6.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.848189 ms (missed cycles : 4).[0m ×2 + 6.76sINFOobjective_server_node[0;93m2026-08-13 22:11:04.550406296 [W:onnxruntime:, session_state.cc:1327 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 6.76sINFOobjective_server_node[0;93m2026-08-13 22:11:04.550441498 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 7.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.937362 ms (missed cycles : 7). + 7.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.937362 ms (missed cycles : 7).[0m ×2 + 7.84sINFOobjective_server_node[2026-08-13 22:11:05.630] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 8.40sINFOobjective_server_node[0;93m2026-08-13 22:11:06.188659680 [W:onnxruntime:, session_state.cc:1327 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 8.40sINFOobjective_server_node[0;93m2026-08-13 22:11:06.188704062 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 8.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.774379 ms (missed cycles : 2). + 8.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.774379 ms (missed cycles : 2).[0m ×2 + 8.57sINFOobjective_server_node[2026-08-13 22:11:06.359] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 8.62sINFOobjective_server_node[0;93m2026-08-13 22:11:06.412064775 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 5 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 8.62sINFOobjective_server_node[0;93m2026-08-13 22:11:06.415131113 [W:onnxruntime:, session_state.cc:1327 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 8.62sINFOobjective_server_node[0;93m2026-08-13 22:11:06.415152724 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 8.69sINFOobjective_server_node[2026-08-13 22:11:06.479] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 9.09sINFOobjective_server_node[0;93m2026-08-13 22:11:06.886099984 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 1 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 9.11sINFOobjective_server_node[0;93m2026-08-13 22:11:06.906507879 [W:onnxruntime:, session_state.cc:1327 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 9.11sINFOobjective_server_node[0;93m2026-08-13 22:11:06.906537609 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 9.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.662686 ms (missed cycles : 4). + 9.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.662686 ms (missed cycles : 4).[0m ×2 + 10.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.218370 ms (missed cycles : 2). + 10.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.218370 ms (missed cycles : 2).[0m ×2 + 10.80sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×2 + 10.98sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1786659068.77398801 seconds ×3 + 11.65sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1786659069.44527125 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 11.65sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 11.65sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 11.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.358435 ms (missed cycles : 3). + 11.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.358435 ms (missed cycles : 3).[0m ×2 + 11.73sINFOobjective_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 + 11.74sINFOobjective_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 + 12.02sINFOobjective_server_nodeFound path in 0 iterations (4.44e-07 s). ×2 + 12.03sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 12.07sINFOros2_control_node[2026-08-13 22:11:09.863] [info] Received new action goal ×2 + 12.07sINFOros2_control_node[2026-08-13 22:11:09.863] [info] Accepted new action goal ×2 + 12.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.193926 ms (missed cycles : 2). + 12.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.193926 ms (missed cycles : 2).[0m ×2 + 13.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.726592 ms (missed cycles : 2). + 13.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.726592 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Look at Table | look_at_table.xml | 3.7s | 34 warnings · 134 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.010261 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.010261 ms (missed cycles : 6).[0m ×2 + 1.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.994468 ms (missed cycles : 3). + 1.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.994468 ms (missed cycles : 3).[0m ×2 + 2.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.776157 ms (missed cycles : 2). + 2.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.776157 ms (missed cycles : 2).[0m ×2 + 2.46sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 3.00sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1786659057.11719847 seconds ×3 + 3.00sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.01sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.01sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.01sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.01sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.02sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.03sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.03sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.456750 ms (missed cycles : 3). + 3.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.456750 ms (missed cycles : 3).[0m ×2 + 3.67sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1786659057.79367590 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.71sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.71sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.72sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.72sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.74sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1786659057.86380720 seconds ×3 + 4.35sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1786659058.47133780 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.36sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.46sINFOobjective_server_nodeFound path in 0 iterations (3.12e-07 s). ×2 + 4.46sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.47sINFOros2_control_node[2026-08-13 22:10:58.586] [info] Received new action goal ×2 + 4.47sINFOros2_control_node[2026-08-13 22:10:58.586] [info] Accepted new action goal ×2 + 4.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.341144 ms (missed cycles : 5). + 4.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.341144 ms (missed cycles : 5).[0m ×2 + 5.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.994929 ms (missed cycles : 5). + 5.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.994929 ms (missed cycles : 5).[0m ×2 + 6.47sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1786659060.59146261 seconds ×3 + 6.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706247 ms (missed cycles : 2). + 6.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706247 ms (missed cycles : 2).[0m ×2 + 8.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.149269 ms (missed cycles : 6). + 8.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.149269 ms (missed cycles : 6).[0m ×2 + 8.08sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1786659062.20006752 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 8.71sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.32 s); wrist_camera (1.32 s). The render path has stopped producing new frames for them.[0m ×2 + 9.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.539586 ms (missed cycles : 3). + 9.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.539586 ms (missed cycles : 3).[0m ×2 + 9.64sINFOobjective_server_node[2026-08-13 22:11:03.756] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 10.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.848189 ms (missed cycles : 4). + 10.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.848189 ms (missed cycles : 4).[0m ×2 + 10.43sINFOobjective_server_node[0;93m2026-08-13 22:11:04.550406296 [W:onnxruntime:, session_state.cc:1327 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 10.43sINFOobjective_server_node[0;93m2026-08-13 22:11:04.550441498 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 | ||||
| ✓ passed | Take Scene Camera Snapshot | take_snap.xml | 1.9s | 3 errors · 31 warnings · 134 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×4 + 0.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.055788 ms (missed cycles : 6). + 0.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.055788 ms (missed cycles : 6).[0m ×2 + 1.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.790282 ms (missed cycles : 2). + 1.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.790282 ms (missed cycles : 2).[0m ×2 + 2.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.500006 ms (missed cycles : 5). + 2.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.500006 ms (missed cycles : 5).[0m ×2 + 3.42sINFOobjective_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 + 3.43sINFOros2_control_node[2026-08-13 22:14:36.026] [info] Got request to cancel active goal. ×2 + 3.43sINFOros2_control_node[2026-08-13 22:14:36.026] [info] Canceling active goal... ×2 + 3.43sERRORobjective_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: 1786659276.03077412 seconds ×3 + 3.44sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.44sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.44sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 3.44sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.44sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 3.44sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.45sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.45sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 3.45sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.45sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.46sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.46sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.878871 ms (missed cycles : 3). + 3.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.878871 ms (missed cycles : 3).[0m ×2 + 4.03sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1786659276.62529993 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.727068 ms (missed cycles : 3). + 4.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.727068 ms (missed cycles : 3).[0m ×2 + 5.37sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1786659277.96542549 seconds ×3 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.694793 ms (missed cycles : 2). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.694793 ms (missed cycles : 2).[0m ×2 + 5.96sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1786659278.55894351 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.96sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 5.96sINFOobjective_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 + 5.96sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 5.96sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1786659278.56131363 seconds ×3 + 6.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.462809 ms (missed cycles : 5). + 6.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.462809 ms (missed cycles : 5).[0m ×2 + 6.68sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1786659279.27838302 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.68sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1786659279.27890563 seconds ×3 + 7.27sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1786659279.86800027 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.736691 ms (missed cycles : 4). + 7.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.736691 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Close Gripper | close_gripper.xml | 1.6s | 29 warnings · 531 info |
+ 0.00sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 0.07sINFOobjective_server_node[2026-08-13 22:09:36.381] [moveit_pro_license] [info] ×2 + 0.07sINFOobjective_server_node************************************************* ×4 + 0.07sINFOobjective_server_node* MoveIt Pro License ×2 + 0.07sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 0.18sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 0.19sINFOobjective_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 + 0.19sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 0.20sINFOobjective_server_nodeLoading 7 behavior loader plugin(s): ×2 + 0.20sINFOobjective_server_nodemoveit_pro::behaviors::MPCBehaviorsLoader ×2 + 0.20sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 0.20sINFOobjective_server_nodelab_sim_behaviors::LabSimBehaviorsLoader ×2 + 0.20sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 0.20sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 0.20sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 0.20sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 0.36sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 0.58sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 0.58sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 0.80sINFOcomponent_container_mt[2026-08-13 22:09:37.114] [moveit_pro_license] [info] ×2 + 0.80sINFOcomponent_container_mt************************************************* ×4 + 0.80sINFOcomponent_container_mt* MoveIt Pro License ×2 + 0.80sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 0.82sWARNros2_control_nodeNo keyframe specified, applying first keyframe to set initial state.[0m ×2 + 0.82sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 0.82sINFOros2_control_nodeResolved base link to MuJoCo body `world` (id 0) via URDF chain walk.[0m ×2 + 0.82sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 0.82sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 0.82sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 0.83sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 0.83sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 0.83sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 0.83sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 0.83sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 0.83sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 0.83sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 0.83sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 0.84sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.84sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.84sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.84sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.84sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_4ald5cnv --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_5ykz7a6v --params-file /tmp/launch_params___3qp74y + 0.84sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_4ald5cnv --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_5ykz7a6v --params-file /tmp/launch_params___3qp74y [0m ×2 + 0.85sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 0.86sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.86sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.86sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.86sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.87sINFOforce_torque_sensor_broadcasterconfigure successful + 0.87sINFOros2_control_nodeconfigure successful[0m ×2 + 0.87sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.87sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.87sINFOcontroller_managerSuccessfully switched controllers! ×20 + 0.87sINFOros2_control_nodeSuccessfully switched controllers![0m ×40 + 0.88sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.88sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 1.01sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 1.18sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.18sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 1.18sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.18sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 1.20sINFOros2-2process has finished cleanly [pid 8989] ×2 + 1.28sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4ald5cnv --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_5ykz7a6v --params-file /tmp/launch_params___3qp74y + 1.28sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4ald5cnv --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_5ykz7a6v --params-file /tmp/launch_params___3qp74y [0m ×2 + 1.36sINFOros2_control_nodeMuJoCo offscreen rendering bound to EGL vendor 'Mesa Project' (1.5).[0m ×2 + 1.39sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 1.39sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 1.39sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 1.39sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 1.40sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 1.42sINFOros2_control_node[2026-08-13 22:09:37.733] [info] Controller state will be published at 20 Hz. ×2 + 1.42sINFOros2_control_node[2026-08-13 22:09:37.734] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.74sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 1.74sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 1.74sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 1.74sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 1.74sINFOros2-8process has finished cleanly [pid 8995] ×2 + 1.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.418068 ms (missed cycles : 2). + 1.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.418068 ms (missed cycles : 2).[0m ×2 + 1.82sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_4ald5cnv --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_5ykz7a6v --params-file /tmp/launch_params___3qp74y + 1.82sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_4ald5cnv --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_5ykz7a6v --params-file /tmp/launch_params___3qp74y [0m ×2 + 1.87sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 1.87sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 1.87sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 1.87sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 1.87sINFOros2_control_node[2026-08-13 22:09:38.185] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 1.87sINFOros2_control_node[2026-08-13 22:09:38.185] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 1.90sINFOros2_control_node[2026-08-13 22:09:38.212] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 1.90sINFOros2_control_node[2026-08-13 22:09:38.212] [info] Controller state will be published at 50 Hz. ×2 + 1.91sINFOros2_control_node[2026-08-13 22:09:38.221] [info] Registered `FollowJointTrajectory` action server. ×2 + 2.24sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 2.24sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 2.24sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 2.24sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 2.24sINFOros2-6process has finished cleanly [pid 8993] ×2 + 2.24sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_4ald5cnv --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_5ykz7a6v --params-file /tmp/launch_params___3qp74y + 2.24sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_4ald5cnv --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_5ykz7a6v --params-file /tmp/launch_params___3qp74y [0m ×2 + 2.31sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 2.31sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 2.31sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 2.31sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 2.31sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 2.31sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 2.31sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 2.31sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 2.31sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 2.31sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 2.32sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 2.32sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 2.32sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 2.32sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 2.32sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] ×2 + 2.32sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×4 + 2.33sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 2.33sWARNobjective_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 + 2.33sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 2.39sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 2.44sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 2.44sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.44sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 2.44sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 2.44sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 2.44sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 2.46sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 2.46sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 2.46sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 2.46sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 2.64sINFOros2-5process has finished cleanly [pid 8992] ×2 + 2.64sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 2.64sINFOcontroller_managerLoading controller 'velocity_force_controller' + 2.65sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 2.65sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 2.71sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_4ald5cnv --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_5ykz7a6v --params-file /tmp/launch_params___3qp74y + 2.71sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_4ald5cnv --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_5ykz7a6v --params-file /tmp/launch_params___3qp74y [0m ×2 + 2.75sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 2.75sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 2.75sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 2.75sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 2.79sINFOros2_control_node[2026-08-13 22:09:39.107] [info] Controller state will be published at 10 Hz. ×2 + 2.79sINFOros2_control_node[2026-08-13 22:09:39.108] [info] VelocityForceController 'on_configure' succeeded. ×2 + 2.91sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 3.13sINFOros2-7process has finished cleanly [pid 8994] ×2 + 3.14sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 3.14sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 3.15sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 3.15sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 3.15sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_4ald5cnv --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_5ykz7a6v --params-file /tmp/launch_params___3qp74y + 3.15sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_4ald5cnv --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_5ykz7a6v --params-file /tmp/launch_params___3qp74y [0m ×2 + 3.16sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 3.16sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 3.19sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 3.19sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 3.19sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 3.19sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 3.19sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 3.19sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 3.20sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 3.20sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.563918 ms (missed cycles : 3). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.563918 ms (missed cycles : 3).[0m ×2 + 3.20sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 3.21sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 3.36sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786658979.67968941 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.37sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786658979.68986797 seconds ×3 + 3.38sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 3.38sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 3.39sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 3.39sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 3.39sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 3.40sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 3.50sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 3.50sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 3.50sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 3.50sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 3.50sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_4ald5cnv --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_5ykz7a6v --params-file /tmp/launch_params___3qp74y + 3.50sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_4ald5cnv --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_5ykz7a6v --params-file /tmp/launch_params___3qp74y [0m ×2 + 3.53sINFOros2-3process has finished cleanly [pid 8990] ×2 + 3.55sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 3.55sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 3.55sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 3.55sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 3.55sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 3.55sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 3.56sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 3.56sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 3.56sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 3.56sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 3.88sINFOros2-4process has finished cleanly [pid 8991] ×2 + 3.96sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786658980.27589941 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.96sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.96sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.381597 ms (missed cycles : 3). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.381597 ms (missed cycles : 3).[0m ×2 + 4.86sWARNros2_control_nodeCamera render tick took 1.83 s (budget 0.100 s, EGL vendor 'Mesa Project'). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 5.02sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786658981.33603382 seconds ×3 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.183569 ms (missed cycles : 2). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.183569 ms (missed cycles : 2).[0m ×2 + 5.64sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786658981.95932627 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.70sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786658982.01949716 seconds ×3 + 6.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.648168 ms (missed cycles : 4). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.648168 ms (missed cycles : 4).[0m ×2 + 6.36sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786658982.67854762 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.38sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786658982.69866109 seconds ×3 + 7.10sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786658983.41888142 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.25sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786658983.56966352 seconds ×3 + 7.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.556631 ms (missed cycles : 2). + 7.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.556631 ms (missed cycles : 2).[0m ×2 + 7.39sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 7.94sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786658984.25855422 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.96sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 7.96sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 7.98sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 7.98sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 7.98sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 7.99sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786658984.30869198 seconds ×3 | ||||
| ✓ passed | Add Table to Planning Scene | add_table_to_planning_scene.xml | 0.7s | 3 errors · 26 warnings · 99 info |
+ 0.00sINFOobjective_server_nodeFound path in 0 iterations (4.05e-07 s). ×2 + 0.01sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 0.02sINFOros2_control_node[2026-08-13 22:09:51.315] [info] Received new action goal ×2 + 0.02sINFOros2_control_node[2026-08-13 22:09:51.315] [info] Accepted new action goal ×2 + 0.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.698275 ms (missed cycles : 3). + 0.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.698275 ms (missed cycles : 3).[0m ×2 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.567903 ms (missed cycles : 2). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.567903 ms (missed cycles : 2).[0m ×2 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.493811 ms (missed cycles : 2). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.493811 ms (missed cycles : 2).[0m ×2 + 3.24sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.33sINFOobjective_server_nodeFound path in 0 iterations (3.24e-07 s). ×2 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.003910 ms (missed cycles : 3). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.003910 ms (missed cycles : 3).[0m ×2 + 3.33sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 3.35sINFOros2_control_node[2026-08-13 22:09:54.645] [info] Received new action goal ×2 + 3.35sINFOros2_control_node[2026-08-13 22:09:54.645] [info] Accepted new action goal ×2 + 3.72sINFOobjective_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 + 3.72sINFOros2_control_node[2026-08-13 22:09:55.021] [info] Got request to cancel active goal. ×2 + 3.72sINFOros2_control_node[2026-08-13 22:09:55.021] [info] Canceling active goal... ×2 + 3.74sERRORobjective_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: 1786658995.03684425 seconds ×3 + 3.75sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.75sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.75sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.75sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.75sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.75sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.76sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.76sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.76sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.76sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.76sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 4.38sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1786658995.67930222 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.307591 ms (missed cycles : 2). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.307591 ms (missed cycles : 2).[0m ×2 + 4.49sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1786658995.78942370 seconds ×3 + 4.50sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 5.09sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1786658996.39309120 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.10sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 5.10sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 5.29sINFOobjective_server_nodeFound path in 0 iterations (4.85e-07 s). ×2 + 5.29sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 5.30sINFOros2_control_node[2026-08-13 22:09:56.596] [info] Received new action goal ×2 + 5.30sINFOros2_control_node[2026-08-13 22:09:56.596] [info] Accepted new action goal ×2 + 5.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.921710 ms (missed cycles : 2). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.921710 ms (missed cycles : 2).[0m ×2 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.080196 ms (missed cycles : 3). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.080196 ms (missed cycles : 3).[0m ×2 + 7.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.939060 ms (missed cycles : 2). + 7.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.939060 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Load MuJoCo Robot State | load_mujoco_robot_state.xml | 0.7s | 20 warnings · 100 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.010261 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.010261 ms (missed cycles : 6).[0m ×2 + 1.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.994468 ms (missed cycles : 3). + 1.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.994468 ms (missed cycles : 3).[0m ×2 + 2.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.776157 ms (missed cycles : 2). + 2.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.776157 ms (missed cycles : 2).[0m ×2 + 2.46sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 3.00sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1786659057.11719847 seconds ×3 + 3.00sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 3.01sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 3.01sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.01sINFOcontroller_managerSuccessfully switched controllers! ×6 + 3.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 3.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 3.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.01sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 3.02sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 3.03sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 3.03sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 3.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.456750 ms (missed cycles : 3). + 3.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.456750 ms (missed cycles : 3).[0m ×2 + 3.67sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1786659057.79367590 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.71sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.71sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.72sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.72sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.74sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1786659057.86380720 seconds ×3 + 4.35sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1786659058.47133780 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.36sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.46sINFOobjective_server_nodeFound path in 0 iterations (3.12e-07 s). ×2 + 4.46sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.47sINFOros2_control_node[2026-08-13 22:10:58.586] [info] Received new action goal ×2 + 4.47sINFOros2_control_node[2026-08-13 22:10:58.586] [info] Accepted new action goal ×2 + 4.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.341144 ms (missed cycles : 5). + 4.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.341144 ms (missed cycles : 5).[0m ×2 + 5.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.994929 ms (missed cycles : 5). + 5.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.994929 ms (missed cycles : 5).[0m ×2 + 6.47sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1786659060.59146261 seconds ×3 | ||||
| ✓ passed | Visualize Grasp Link | visualize_grasp_link.xml | 0.7s | 3 errors · 26 warnings · 137 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.500006 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.500006 ms (missed cycles : 5).[0m ×2 + 0.95sINFOobjective_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 + 0.96sINFOros2_control_node[2026-08-13 22:14:36.026] [info] Got request to cancel active goal. ×2 + 0.96sINFOros2_control_node[2026-08-13 22:14:36.026] [info] Canceling active goal... ×2 + 0.96sERRORobjective_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: 1786659276.03077412 seconds ×3 + 0.97sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.97sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.97sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 0.97sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.97sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 0.97sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.98sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.98sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.98sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.98sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.99sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.99sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.878871 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.878871 ms (missed cycles : 3).[0m ×2 + 1.55sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1786659276.62529993 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.727068 ms (missed cycles : 3). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.727068 ms (missed cycles : 3).[0m ×2 + 2.89sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1786659277.96542549 seconds ×3 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.694793 ms (missed cycles : 2). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.694793 ms (missed cycles : 2).[0m ×2 + 3.49sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1786659278.55894351 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.49sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 3.49sINFOobjective_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 + 3.49sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 3.49sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1786659278.56131363 seconds ×3 + 3.72sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 4.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.462809 ms (missed cycles : 5). + 4.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.462809 ms (missed cycles : 5).[0m ×2 + 4.21sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1786659279.27838302 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.21sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1786659279.27890563 seconds ×3 + 4.80sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1786659279.86800027 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.736691 ms (missed cycles : 4). + 5.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.736691 ms (missed cycles : 4).[0m ×2 + 5.93sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1786659280.99812818 seconds ×3 + 5.96sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.093654 ms (missed cycles : 4). + 6.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.093654 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Reset MuJoCo Robot | reset_mujoco_robot.xml | 0.7s | 3 errors · 25 warnings · 134 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 0.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.166642 ms (missed cycles : 2). + 0.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.166642 ms (missed cycles : 2).[0m ×2 + 1.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.509655 ms (missed cycles : 5). + 1.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.509655 ms (missed cycles : 5).[0m ×2 + 2.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.502358 ms (missed cycles : 2). + 2.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.502358 ms (missed cycles : 2).[0m ×2 + 3.75sINFOobjective_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 + 3.75sERRORobjective_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: 1786659263.52475643 seconds ×3 + 3.82sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.82sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.82sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.82sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.82sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.82sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.83sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.83sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.83sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.83sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.83sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.83sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.674758 ms (missed cycles : 3). + 3.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.674758 ms (missed cycles : 3).[0m ×2 + 4.41sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1786659264.18153048 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.44sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 4.44sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.46sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 4.46sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 4.49sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1786659264.26166320 seconds ×3 + 5.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.383496 ms (missed cycles : 4). + 5.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.383496 ms (missed cycles : 4).[0m ×2 + 5.09sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1786659264.85963655 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.11sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 5.11sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1786659264.88173199 seconds ×3 + 5.82sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1786659265.59605384 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.83sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.96sINFOobjective_server_nodeFound path in 0 iterations (5.15e-07 s). ×2 + 5.96sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 5.97sINFOros2_control_node[2026-08-13 22:14:25.739] [info] Received new action goal ×2 + 5.97sINFOros2_control_node[2026-08-13 22:14:25.739] [info] Accepted new action goal ×2 + 6.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.418047 ms (missed cycles : 4). + 6.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.418047 ms (missed cycles : 4).[0m ×2 + 6.09sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 7.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.838287 ms (missed cycles : 2). + 7.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.838287 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Clear Previous Obstacles | clear_previous_obstacles.xml | 0.7s | 31 warnings · 87 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.921170 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.921170 ms (missed cycles : 4).[0m ×2 + 0.35sINFOros2_control_node[2026-08-13 22:10:08.025] [info] Received new action goal ×2 + 0.35sINFOros2_control_node[2026-08-13 22:10:08.025] [info] Accepted new action goal ×2 + 0.81sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.17 s); wrist_camera (1.17 s). The render path has stopped producing new frames for them.[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.980539 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.980539 ms (missed cycles : 2).[0m ×2 + 1.74sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.74sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.613787 ms (missed cycles : 4). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.613787 ms (missed cycles : 4).[0m ×2 + 2.25sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 2.25sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.26sINFOros2_control_node[2026-08-13 22:10:09.937] [info] Received new action goal ×2 + 2.26sINFOros2_control_node[2026-08-13 22:10:09.937] [info] Accepted new action goal ×2 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.949310 ms (missed cycles : 2). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.949310 ms (missed cycles : 2).[0m ×2 + 3.65sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1786659011.32352805 seconds ×3 + 3.65sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.65sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.65sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.66sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.66sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.66sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.66sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.005856 ms (missed cycles : 3). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.005856 ms (missed cycles : 3).[0m ×2 + 4.27sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1786659011.94726753 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.32sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1786659011.99740314 seconds ×3 + 4.96sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1786659012.64167285 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.07sINFOobjective_server_nodeFound path in 0 iterations (2.86e-07 s). ×2 + 5.08sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 5.09sINFOros2_control_node[2026-08-13 22:10:12.766] [info] Received new action goal ×2 + 5.09sINFOros2_control_node[2026-08-13 22:10:12.766] [info] Accepted new action goal ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.546671 ms (missed cycles : 5). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.546671 ms (missed cycles : 5).[0m ×2 + 6.18sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.867324 ms (missed cycles : 3). + 6.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.867324 ms (missed cycles : 3).[0m ×2 + 7.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.005536 ms (missed cycles : 3). + 7.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.005536 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Open Gripper | open_gripper.xml | 0.7s | 30 warnings · 433 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 0.00sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 0.00sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 0.00sINFOros2-8process has finished cleanly [pid 8995] ×2 + 0.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.418068 ms (missed cycles : 2). + 0.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.418068 ms (missed cycles : 2).[0m ×2 + 0.08sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_4ald5cnv --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_5ykz7a6v --params-file /tmp/launch_params___3qp74y + 0.08sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_4ald5cnv --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_5ykz7a6v --params-file /tmp/launch_params___3qp74y [0m ×2 + 0.13sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.13sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 0.13sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 0.13sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 0.13sINFOros2_control_node[2026-08-13 22:09:38.185] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.13sINFOros2_control_node[2026-08-13 22:09:38.185] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.14sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.16sINFOros2_control_node[2026-08-13 22:09:38.212] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.16sINFOros2_control_node[2026-08-13 22:09:38.212] [info] Controller state will be published at 50 Hz. ×2 + 0.17sINFOros2_control_node[2026-08-13 22:09:38.221] [info] Registered `FollowJointTrajectory` action server. ×2 + 0.50sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.50sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.50sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.50sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.50sINFOros2-6process has finished cleanly [pid 8993] ×2 + 0.50sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_4ald5cnv --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_5ykz7a6v --params-file /tmp/launch_params___3qp74y + 0.50sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_4ald5cnv --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_5ykz7a6v --params-file /tmp/launch_params___3qp74y [0m ×2 + 0.57sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.57sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.57sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.57sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.57sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.57sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.58sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.58sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.58sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.58sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.58sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.58sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.58sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.58sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.58sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] ×2 + 0.59sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×4 + 0.59sINFOcontroller_managerSuccessfully switched controllers! ×20 + 0.59sINFOros2_control_nodeSuccessfully switched controllers![0m ×40 + 0.59sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.59sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×2 + 0.59sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.66sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.70sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] ×2 + 0.70sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.70sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.70sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×4 + 0.70sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.70sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.72sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.72sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 0.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 0.90sINFOros2-5process has finished cleanly [pid 8992] ×2 + 0.91sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.91sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.91sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.91sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.97sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_4ald5cnv --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_5ykz7a6v --params-file /tmp/launch_params___3qp74y + 0.97sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_4ald5cnv --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_5ykz7a6v --params-file /tmp/launch_params___3qp74y [0m ×2 + 1.01sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 1.01sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 1.02sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 1.02sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 1.05sINFOros2_control_node[2026-08-13 22:09:39.107] [info] Controller state will be published at 10 Hz. ×2 + 1.05sINFOros2_control_node[2026-08-13 22:09:39.108] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.18sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 1.39sINFOros2-7process has finished cleanly [pid 8994] ×2 + 1.41sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 1.41sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 1.41sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 1.41sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 1.41sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_4ald5cnv --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_5ykz7a6v --params-file /tmp/launch_params___3qp74y + 1.41sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_4ald5cnv --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_5ykz7a6v --params-file /tmp/launch_params___3qp74y [0m ×2 + 1.42sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 1.42sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 1.45sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 1.46sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 1.46sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 1.46sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 1.46sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 1.46sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 1.46sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 1.46sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 1.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.563918 ms (missed cycles : 3). + 1.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.563918 ms (missed cycles : 3).[0m ×2 + 1.47sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 1.47sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 1.63sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786658979.67968941 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.64sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786658979.68986797 seconds ×3 + 1.64sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.64sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.65sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.65sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.66sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.66sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.76sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 1.76sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 1.76sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 1.76sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 1.76sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_4ald5cnv --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_5ykz7a6v --params-file /tmp/launch_params___3qp74y + 1.76sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_4ald5cnv --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_5ykz7a6v --params-file /tmp/launch_params___3qp74y [0m ×2 + 1.79sINFOros2-3process has finished cleanly [pid 8990] ×2 + 1.81sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 1.81sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 1.81sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 1.81sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 1.81sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 1.81sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 1.82sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 1.82sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 1.83sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 1.83sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 2.14sINFOros2-4process has finished cleanly [pid 8991] ×2 + 2.22sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786658980.27589941 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.23sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.23sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.381597 ms (missed cycles : 3). + 2.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.381597 ms (missed cycles : 3).[0m ×2 + 3.13sWARNros2_control_nodeCamera render tick took 1.83 s (budget 0.100 s, EGL vendor 'Mesa Project'). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.28sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786658981.33603382 seconds ×3 + 3.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.183569 ms (missed cycles : 2). + 3.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.183569 ms (missed cycles : 2).[0m ×2 + 3.91sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786658981.95932627 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.97sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786658982.01949716 seconds ×3 + 4.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.648168 ms (missed cycles : 4). + 4.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.648168 ms (missed cycles : 4).[0m ×2 + 4.62sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786658982.67854762 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.64sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786658982.69866109 seconds ×3 + 5.36sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786658983.41888142 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.52sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786658983.56966352 seconds ×3 + 5.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.556631 ms (missed cycles : 2). + 5.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.556631 ms (missed cycles : 2).[0m ×2 + 5.66sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 6.20sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786658984.25855422 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.22sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 6.22sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 6.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 6.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 6.24sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 6.25sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786658984.30869198 seconds ×3 + 6.86sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786658984.91084266 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.728162 ms (missed cycles : 2). + 6.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.728162 ms (missed cycles : 2).[0m ×2 + 6.87sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 6.87sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.87sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.87sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.87sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.87sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.87sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.98sINFOobjective_server_nodeFound path in 0 iterations (8.5289e-05 s). ×2 + 6.98sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 6.99sINFOros2_control_node[2026-08-13 22:09:45.047] [info] Received new action goal ×2 + 6.99sINFOros2_control_node[2026-08-13 22:09:45.047] [info] Accepted new action goal ×2 | ||||
| ✓ passed | Save Robot Joint State | save_robot_joint_state.xml | 0.6s | 3 errors · 23 warnings · 134 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.166642 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.166642 ms (missed cycles : 2).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.509655 ms (missed cycles : 5). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.509655 ms (missed cycles : 5).[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.502358 ms (missed cycles : 2). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.502358 ms (missed cycles : 2).[0m ×2 + 2.87sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sERRORobjective_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: 1786659263.52475643 seconds ×3 + 2.94sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.94sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.94sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.95sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.95sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.95sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.95sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.674758 ms (missed cycles : 3). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.674758 ms (missed cycles : 3).[0m ×2 + 3.53sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1786659264.18153048 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.56sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.58sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.58sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.61sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1786659264.26166320 seconds ×3 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.383496 ms (missed cycles : 4). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.383496 ms (missed cycles : 4).[0m ×2 + 4.21sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1786659264.85963655 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.23sINFOobjective_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 + 4.23sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1786659264.88173199 seconds ×3 + 4.94sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1786659265.59605384 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.96sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.08sINFOobjective_server_nodeFound path in 0 iterations (5.15e-07 s). ×2 + 5.08sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 5.09sINFOros2_control_node[2026-08-13 22:14:25.739] [info] Received new action goal ×2 + 5.09sINFOros2_control_node[2026-08-13 22:14:25.739] [info] Accepted new action goal ×2 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.418047 ms (missed cycles : 4). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.418047 ms (missed cycles : 4).[0m ×2 + 5.21sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 6.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.838287 ms (missed cycles : 2). + 6.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.838287 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Vector and String Example | vector_and_string_example.xml | 0.6s | 3 errors · 27 warnings · 137 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.790282 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.790282 ms (missed cycles : 2).[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.500006 ms (missed cycles : 5). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.500006 ms (missed cycles : 5).[0m ×2 + 2.05sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.06sINFOros2_control_node[2026-08-13 22:14:36.026] [info] Got request to cancel active goal. ×2 + 2.06sINFOros2_control_node[2026-08-13 22:14:36.026] [info] Canceling active goal... ×2 + 2.06sERRORobjective_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: 1786659276.03077412 seconds ×3 + 2.07sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.07sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 2.07sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 2.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.08sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.08sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.08sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.09sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.878871 ms (missed cycles : 3). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.878871 ms (missed cycles : 3).[0m ×2 + 2.65sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1786659276.62529993 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.727068 ms (missed cycles : 3). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.727068 ms (missed cycles : 3).[0m ×2 + 3.99sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1786659277.96542549 seconds ×3 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.694793 ms (missed cycles : 2). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.694793 ms (missed cycles : 2).[0m ×2 + 4.59sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1786659278.55894351 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.59sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 4.59sINFOobjective_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 + 4.59sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 4.59sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1786659278.56131363 seconds ×3 + 4.82sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.462809 ms (missed cycles : 5). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.462809 ms (missed cycles : 5).[0m ×2 + 5.31sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1786659279.27838302 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.31sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1786659279.27890563 seconds ×3 + 5.90sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1786659279.86800027 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.736691 ms (missed cycles : 4). + 6.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.736691 ms (missed cycles : 4).[0m ×2 + 7.03sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1786659280.99812818 seconds ×3 + 7.06sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 7.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.093654 ms (missed cycles : 4). | ||||
| − skipped | ML Segment Point Cloud | ml_segment_point_cloud.xml | 0.1s | 23 warnings · 73 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.937362 ms (missed cycles : 7). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.937362 ms (missed cycles : 7).[0m ×2 + 0.35sINFOobjective_server_node[2026-08-13 22:11:05.630] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 0.91sINFOobjective_server_node[0;93m2026-08-13 22:11:06.188659680 [W:onnxruntime:, session_state.cc:1327 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 0.91sINFOobjective_server_node[0;93m2026-08-13 22:11:06.188704062 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.774379 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.774379 ms (missed cycles : 2).[0m ×2 + 1.08sINFOobjective_server_node[2026-08-13 22:11:06.359] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.13sINFOobjective_server_node[0;93m2026-08-13 22:11:06.412064775 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 5 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 1.13sINFOobjective_server_node[0;93m2026-08-13 22:11:06.415131113 [W:onnxruntime:, session_state.cc:1327 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 1.13sINFOobjective_server_node[0;93m2026-08-13 22:11:06.415152724 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.20sINFOobjective_server_node[2026-08-13 22:11:06.479] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.61sINFOobjective_server_node[0;93m2026-08-13 22:11:06.886099984 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 1 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 1.63sINFOobjective_server_node[0;93m2026-08-13 22:11:06.906507879 [W:onnxruntime:, session_state.cc:1327 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 1.63sINFOobjective_server_node[0;93m2026-08-13 22:11:06.906537609 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.662686 ms (missed cycles : 4). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.662686 ms (missed cycles : 4).[0m ×2 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.218370 ms (missed cycles : 2). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.218370 ms (missed cycles : 2).[0m ×2 + 3.31sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×2 + 3.49sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1786659068.77398801 seconds ×3 + 3.56sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.57sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.57sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.57sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.57sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.57sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.57sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.58sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.58sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.58sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.58sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.58sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.16sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1786659069.44527125 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.17sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.17sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.358435 ms (missed cycles : 3). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.358435 ms (missed cycles : 3).[0m ×2 + 4.25sINFOobjective_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 + 4.25sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.54sINFOobjective_server_nodeFound path in 0 iterations (4.44e-07 s). ×2 + 4.54sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.57sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.58sINFOros2_control_node[2026-08-13 22:11:09.863] [info] Received new action goal ×2 + 4.58sINFOros2_control_node[2026-08-13 22:11:09.863] [info] Accepted new action goal ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.193926 ms (missed cycles : 2). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.193926 ms (missed cycles : 2).[0m ×2 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.726592 ms (missed cycles : 2). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.726592 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | ComputeLinkPoseFromWaypoint | computelinkposefromwaypoint.xml | 0.0s | 28 warnings · 83 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.17 s); wrist_camera (1.17 s). The render path has stopped producing new frames for them.[0m ×2 + 0.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.980539 ms (missed cycles : 2). + 0.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.980539 ms (missed cycles : 2).[0m ×2 + 0.93sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.93sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.613787 ms (missed cycles : 4). + 1.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.613787 ms (missed cycles : 4).[0m ×2 + 1.44sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 1.44sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.45sINFOros2_control_node[2026-08-13 22:10:09.937] [info] Received new action goal ×2 + 1.45sINFOros2_control_node[2026-08-13 22:10:09.937] [info] Accepted new action goal ×2 + 2.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.949310 ms (missed cycles : 2). + 2.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.949310 ms (missed cycles : 2).[0m ×2 + 2.84sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1786659011.32352805 seconds ×3 + 2.84sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.84sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.84sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.84sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.84sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.84sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.85sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.85sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.85sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.85sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.85sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.85sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.005856 ms (missed cycles : 3). + 3.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.005856 ms (missed cycles : 3).[0m ×2 + 3.46sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1786659011.94726753 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1786659011.99740314 seconds ×3 + 4.16sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1786659012.64167285 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.17sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.27sINFOobjective_server_nodeFound path in 0 iterations (2.86e-07 s). ×2 + 4.27sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.28sINFOros2_control_node[2026-08-13 22:10:12.766] [info] Received new action goal ×2 + 4.28sINFOros2_control_node[2026-08-13 22:10:12.766] [info] Accepted new action goal ×2 + 4.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.546671 ms (missed cycles : 5). + 4.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.546671 ms (missed cycles : 5).[0m ×2 + 5.37sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 5.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.867324 ms (missed cycles : 3). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.867324 ms (missed cycles : 3).[0m ×2 + 6.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.005536 ms (missed cycles : 3). + 6.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.005536 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Fan Pose About Tool-Z Subtree | fan_pose_about_tool_z_subtree.xml | 0.0s | 3 errors · 20 warnings · 59 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.139702 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.139702 ms (missed cycles : 2).[0m ×2 + 0.62sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 0.84sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.93sINFOobjective_server_nodeFound path in 0 iterations (4e-07 s). ×2 + 0.93sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.94sINFOros2_control_node[2026-08-13 22:10:20.813] [info] Received new action goal ×2 + 0.94sINFOros2_control_node[2026-08-13 22:10:20.813] [info] Accepted new action goal ×2 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.061524 ms (missed cycles : 7). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.061524 ms (missed cycles : 7).[0m ×2 + 2.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.526912 ms (missed cycles : 4). + 2.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.526912 ms (missed cycles : 4).[0m ×2 + 3.18sINFOobjective_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 + 3.19sERRORobjective_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: 1786659023.06181598 seconds ×3 + 3.24sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.24sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.24sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.24sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.24sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.24sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.24sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.25sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.25sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.25sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.25sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.170330 ms (missed cycles : 6). + 3.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.170330 ms (missed cycles : 6).[0m ×2 + 3.83sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1786659023.70290136 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.83sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.83sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.02sINFOobjective_server_nodeFound path in 0 iterations (4.39e-07 s). ×2 + 4.02sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.03sINFOros2_control_node[2026-08-13 22:10:23.906] [info] Received new action goal ×2 + 4.03sINFOros2_control_node[2026-08-13 22:10:23.906] [info] Accepted new action goal ×2 + 4.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.648099 ms (missed cycles : 5). + 4.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.648099 ms (missed cycles : 5).[0m ×2 + 6.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.793760 ms (missed cycles : 3). + 6.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.793760 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | GetPoseAtGripperandDisplay | get_pose_at_gripper_and_display.xml | 0.0s | 3 errors · 20 warnings · 59 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.139702 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.139702 ms (missed cycles : 2).[0m ×2 + 0.62sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 0.84sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.93sINFOobjective_server_nodeFound path in 0 iterations (4e-07 s). ×2 + 0.93sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.94sINFOros2_control_node[2026-08-13 22:10:20.813] [info] Received new action goal ×2 + 0.94sINFOros2_control_node[2026-08-13 22:10:20.813] [info] Accepted new action goal ×2 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.061524 ms (missed cycles : 7). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.061524 ms (missed cycles : 7).[0m ×2 + 2.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.526912 ms (missed cycles : 4). + 2.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.526912 ms (missed cycles : 4).[0m ×2 + 3.18sINFOobjective_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 + 3.19sERRORobjective_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: 1786659023.06181598 seconds ×3 + 3.24sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.24sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.24sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.24sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.24sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.24sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.24sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.25sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.25sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.25sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.25sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.170330 ms (missed cycles : 6). + 3.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.170330 ms (missed cycles : 6).[0m ×2 + 3.83sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1786659023.70290136 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.83sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.83sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.02sINFOobjective_server_nodeFound path in 0 iterations (4.39e-07 s). ×2 + 4.02sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.03sINFOros2_control_node[2026-08-13 22:10:23.906] [info] Received new action goal ×2 + 4.03sINFOros2_control_node[2026-08-13 22:10:23.906] [info] Accepted new action goal ×2 + 4.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.648099 ms (missed cycles : 5). + 4.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.648099 ms (missed cycles : 5).[0m ×2 + 6.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.793760 ms (missed cycles : 3). + 6.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.793760 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Grasp Planning | grasp_planning.xml | 0.0s | 3 errors · 20 warnings · 59 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.139702 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.139702 ms (missed cycles : 2).[0m ×2 + 0.62sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 0.84sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.93sINFOobjective_server_nodeFound path in 0 iterations (4e-07 s). ×2 + 0.93sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.94sINFOros2_control_node[2026-08-13 22:10:20.813] [info] Received new action goal ×2 + 0.94sINFOros2_control_node[2026-08-13 22:10:20.813] [info] Accepted new action goal ×2 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.061524 ms (missed cycles : 7). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.061524 ms (missed cycles : 7).[0m ×2 + 2.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.526912 ms (missed cycles : 4). + 2.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.526912 ms (missed cycles : 4).[0m ×2 + 3.18sINFOobjective_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 + 3.19sERRORobjective_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: 1786659023.06181598 seconds ×3 + 3.24sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.24sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.24sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.24sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.24sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.24sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.24sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.25sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.25sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.25sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.25sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.170330 ms (missed cycles : 6). + 3.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.170330 ms (missed cycles : 6).[0m ×2 + 3.83sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1786659023.70290136 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.83sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.83sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.02sINFOobjective_server_nodeFound path in 0 iterations (4.39e-07 s). ×2 + 4.02sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.03sINFOros2_control_node[2026-08-13 22:10:23.906] [info] Received new action goal ×2 + 4.03sINFOros2_control_node[2026-08-13 22:10:23.906] [info] Accepted new action goal ×2 + 4.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.648099 ms (missed cycles : 5). + 4.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.648099 ms (missed cycles : 5).[0m ×2 + 6.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.793760 ms (missed cycles : 3). + 6.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.793760 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Joint Diagnostic | joint_diagnostic.xml | 0.0s | 3 errors · 20 warnings · 80 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.209743 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.209743 ms (missed cycles : 2).[0m ×2 + 0.19sINFOobjective_server_nodeFound path in 0 iterations (3.72e-07 s). ×2 + 0.19sINFOobjective_server_nodePath shortcutter: [X_X] ×2 + 0.19sINFOobjective_server_nodeFound path in 0 iterations (2.16e-07 s). ×2 + 0.19sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 0.20sINFOobjective_server_nodeFound path in 0 iterations (2.32e-07 s). ×2 + 0.25sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 0.28sINFOobjective_server_nodeFound path in 1 iterations (0.00339069 s). ×2 + 0.39sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________X____________X] ×2 + 0.44sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.46sINFOros2_control_node[2026-08-13 22:10:42.532] [info] Received new action goal ×2 + 0.46sINFOros2_control_node[2026-08-13 22:10:42.532] [info] Accepted new action goal ×2 + 0.89sINFOros2_control_node[2026-08-13 22:10:42.964] [info] Received new action goal ×2 + 0.89sINFOros2_control_node[2026-08-13 22:10:42.964] [info] Accepted new action goal ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.601806 ms (missed cycles : 5). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.601806 ms (missed cycles : 5).[0m ×2 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.189531 ms (missed cycles : 2). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.189531 ms (missed cycles : 2).[0m ×2 + 2.27sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.27sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.49sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×2 + 2.94sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.95sINFOrobotiq_gripper_controllerGot request to cancel goal + 2.95sINFOrobotiq_gripper_controllerCanceling active action goal because cancel callback received. + 2.95sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 2.95sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 2.97sERRORobjective_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: 1786659045.05063272 seconds ×3 + 2.98sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.98sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.98sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.98sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.98sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.98sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.99sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.99sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.99sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.99sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.00sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.00sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.216801 ms (missed cycles : 5). + 3.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.216801 ms (missed cycles : 5).[0m ×2 + 3.78sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1786659045.86094737 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.96sINFOobjective_server_nodeFound path in 0 iterations (4.35e-07 s). ×2 + 3.97sINFOros2_control_node[2026-08-13 22:10:46.045] [info] Received new action goal ×2 + 3.97sINFOros2_control_node[2026-08-13 22:10:46.045] [info] Accepted new action goal ×2 + 4.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.986163 ms (missed cycles : 5). + 4.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.986163 ms (missed cycles : 5).[0m ×2 + 5.09sINFOros2_control_nodeMuJoCo sim: 0.20% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.650270 ms (missed cycles : 3). + 5.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.650270 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | ML Find Bottles on Table from Image Exemplar | ml_find_bottles_on_table_from_image_exemplar.xml | 0.0s | 20 warnings · 106 info |
+ 0.00sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1786659057.79367590 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 0.03sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 0.03sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×6 + 0.03sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 0.04sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 0.05sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 0.05sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 0.05sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 0.06sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 0.06sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 0.07sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1786659057.86380720 seconds ×3 + 0.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 0.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 0.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.68sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1786659058.47133780 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.69sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 0.78sINFOobjective_server_nodeFound path in 0 iterations (3.12e-07 s). ×2 + 0.78sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.79sINFOros2_control_node[2026-08-13 22:10:58.586] [info] Received new action goal ×2 + 0.79sINFOros2_control_node[2026-08-13 22:10:58.586] [info] Accepted new action goal ×2 + 0.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.341144 ms (missed cycles : 5). + 0.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.341144 ms (missed cycles : 5).[0m ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.994929 ms (missed cycles : 5). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.994929 ms (missed cycles : 5).[0m ×2 + 2.80sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1786659060.59146261 seconds ×3 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706247 ms (missed cycles : 2). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706247 ms (missed cycles : 2).[0m ×2 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.149269 ms (missed cycles : 6). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.149269 ms (missed cycles : 6).[0m ×2 + 4.41sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1786659062.20006752 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.04sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.32 s); wrist_camera (1.32 s). The render path has stopped producing new frames for them.[0m ×2 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.539586 ms (missed cycles : 3). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.539586 ms (missed cycles : 3).[0m ×2 + 5.96sINFOobjective_server_node[2026-08-13 22:11:03.756] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 6.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.848189 ms (missed cycles : 4). + 6.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.848189 ms (missed cycles : 4).[0m ×2 + 6.76sINFOobjective_server_node[0;93m2026-08-13 22:11:04.550406296 [W:onnxruntime:, session_state.cc:1327 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 6.76sINFOobjective_server_node[0;93m2026-08-13 22:11:04.550441498 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 | ||||
| − skipped | ML Segment Point Cloud from Clicked Point | ml_segment_point_cloud_from_clicked_point.xml | 0.0s | 23 warnings · 73 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.937362 ms (missed cycles : 7). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.937362 ms (missed cycles : 7).[0m ×2 + 0.35sINFOobjective_server_node[2026-08-13 22:11:05.630] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 0.91sINFOobjective_server_node[0;93m2026-08-13 22:11:06.188659680 [W:onnxruntime:, session_state.cc:1327 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 0.91sINFOobjective_server_node[0;93m2026-08-13 22:11:06.188704062 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.774379 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.774379 ms (missed cycles : 2).[0m ×2 + 1.08sINFOobjective_server_node[2026-08-13 22:11:06.359] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.13sINFOobjective_server_node[0;93m2026-08-13 22:11:06.412064775 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 5 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 1.13sINFOobjective_server_node[0;93m2026-08-13 22:11:06.415131113 [W:onnxruntime:, session_state.cc:1327 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 1.13sINFOobjective_server_node[0;93m2026-08-13 22:11:06.415152724 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.20sINFOobjective_server_node[2026-08-13 22:11:06.479] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.61sINFOobjective_server_node[0;93m2026-08-13 22:11:06.886099984 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 1 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 1.63sINFOobjective_server_node[0;93m2026-08-13 22:11:06.906507879 [W:onnxruntime:, session_state.cc:1327 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 1.63sINFOobjective_server_node[0;93m2026-08-13 22:11:06.906537609 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.662686 ms (missed cycles : 4). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.662686 ms (missed cycles : 4).[0m ×2 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.218370 ms (missed cycles : 2). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.218370 ms (missed cycles : 2).[0m ×2 + 3.31sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×2 + 3.49sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1786659068.77398801 seconds ×3 + 3.56sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.57sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.57sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.57sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.57sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.57sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.57sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.58sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.58sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.58sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.58sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.58sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.16sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1786659069.44527125 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.17sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.17sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.358435 ms (missed cycles : 3). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.358435 ms (missed cycles : 3).[0m ×2 + 4.25sINFOobjective_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 + 4.25sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.54sINFOobjective_server_nodeFound path in 0 iterations (4.44e-07 s). ×2 + 4.54sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.57sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.58sINFOros2_control_node[2026-08-13 22:11:09.863] [info] Received new action goal ×2 + 4.58sINFOros2_control_node[2026-08-13 22:11:09.863] [info] Accepted new action goal ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.193926 ms (missed cycles : 2). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.193926 ms (missed cycles : 2).[0m ×2 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.726592 ms (missed cycles : 2). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.726592 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Pick from Pose | pick_from_pose.xml | 0.0s | 3 errors · 29 warnings · 65 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.27% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.065836 ms (missed cycles : 6). + 0.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.065836 ms (missed cycles : 6).[0m ×2 + 0.90sINFOros2_control_node[2026-08-13 22:13:48.068] [info] Received new action goal ×2 + 0.90sINFOros2_control_node[2026-08-13 22:13:48.068] [info] Accepted new action goal ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.160137 ms (missed cycles : 2). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.160137 ms (missed cycles : 2).[0m ×2 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.036914 ms (missed cycles : 2). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.036914 ms (missed cycles : 2).[0m ×2 + 2.29sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.29sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.66sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×2 + 2.80sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×6 + 2.80sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.81sINFOros2_control_node[2026-08-13 22:13:49.984] [info] Received new action goal ×2 + 2.81sINFOros2_control_node[2026-08-13 22:13:49.984] [info] Accepted new action goal ×2 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.545231 ms (missed cycles : 5). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.545231 ms (missed cycles : 5).[0m ×2 + 3.84sINFOobjective_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 + 3.85sINFOros2_control_node[2026-08-13 22:13:51.021] [info] Got request to cancel active goal. ×2 + 3.85sINFOros2_control_node[2026-08-13 22:13:51.021] [info] Canceling active goal... ×2 + 3.86sERRORobjective_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: 1786659231.03533483 seconds ×3 + 3.91sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.91sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.91sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.91sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.91sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.91sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.92sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.92sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.92sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.92sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.92sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.92sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.164324 ms (missed cycles : 2). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.164324 ms (missed cycles : 2).[0m ×2 + 4.53sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1786659231.70068002 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.60sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.69sINFOobjective_server_nodeFound path in 0 iterations (9.31e-07 s). ×2 + 4.69sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.70sINFOros2_control_node[2026-08-13 22:13:51.874] [info] Received new action goal ×2 + 4.70sINFOros2_control_node[2026-08-13 22:13:51.874] [info] Accepted new action goal ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.530778 ms (missed cycles : 4). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.530778 ms (missed cycles : 4).[0m ×2 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.685965 ms (missed cycles : 6). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.685965 ms (missed cycles : 6).[0m ×2 + 6.61sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − skipped | Pick from Pose Vector | pick_from_pose_vector.xml | 0.0s | 3 errors · 29 warnings · 65 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.27% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.065836 ms (missed cycles : 6). + 0.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.065836 ms (missed cycles : 6).[0m ×2 + 0.90sINFOros2_control_node[2026-08-13 22:13:48.068] [info] Received new action goal ×2 + 0.90sINFOros2_control_node[2026-08-13 22:13:48.068] [info] Accepted new action goal ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.160137 ms (missed cycles : 2). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.160137 ms (missed cycles : 2).[0m ×2 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.036914 ms (missed cycles : 2). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.036914 ms (missed cycles : 2).[0m ×2 + 2.29sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.29sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.66sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×2 + 2.80sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×6 + 2.80sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.81sINFOros2_control_node[2026-08-13 22:13:49.984] [info] Received new action goal ×2 + 2.81sINFOros2_control_node[2026-08-13 22:13:49.984] [info] Accepted new action goal ×2 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.545231 ms (missed cycles : 5). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.545231 ms (missed cycles : 5).[0m ×2 + 3.84sINFOobjective_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 + 3.85sINFOros2_control_node[2026-08-13 22:13:51.021] [info] Got request to cancel active goal. ×2 + 3.85sINFOros2_control_node[2026-08-13 22:13:51.021] [info] Canceling active goal... ×2 + 3.86sERRORobjective_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: 1786659231.03533483 seconds ×3 + 3.91sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.91sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.91sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.91sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.91sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.91sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.92sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.92sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.92sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.92sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.92sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.92sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.164324 ms (missed cycles : 2). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.164324 ms (missed cycles : 2).[0m ×2 + 4.53sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1786659231.70068002 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.60sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.69sINFOobjective_server_nodeFound path in 0 iterations (9.31e-07 s). ×2 + 4.69sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.70sINFOros2_control_node[2026-08-13 22:13:51.874] [info] Received new action goal ×2 + 4.70sINFOros2_control_node[2026-08-13 22:13:51.874] [info] Accepted new action goal ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.530778 ms (missed cycles : 4). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.530778 ms (missed cycles : 4).[0m ×2 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.685965 ms (missed cycles : 6). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.685965 ms (missed cycles : 6).[0m ×2 + 6.61sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − skipped | Pick from Pose With Approval | pick_from_pose_with_approval.xml | 0.0s | 3 errors · 29 warnings · 65 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.27% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.065836 ms (missed cycles : 6). + 0.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.065836 ms (missed cycles : 6).[0m ×2 + 0.90sINFOros2_control_node[2026-08-13 22:13:48.068] [info] Received new action goal ×2 + 0.90sINFOros2_control_node[2026-08-13 22:13:48.068] [info] Accepted new action goal ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.160137 ms (missed cycles : 2). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.160137 ms (missed cycles : 2).[0m ×2 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.036914 ms (missed cycles : 2). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.036914 ms (missed cycles : 2).[0m ×2 + 2.29sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.29sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.66sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×2 + 2.80sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×6 + 2.80sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.81sINFOros2_control_node[2026-08-13 22:13:49.984] [info] Received new action goal ×2 + 2.81sINFOros2_control_node[2026-08-13 22:13:49.984] [info] Accepted new action goal ×2 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.545231 ms (missed cycles : 5). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.545231 ms (missed cycles : 5).[0m ×2 + 3.84sINFOobjective_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 + 3.85sINFOros2_control_node[2026-08-13 22:13:51.021] [info] Got request to cancel active goal. ×2 + 3.85sINFOros2_control_node[2026-08-13 22:13:51.021] [info] Canceling active goal... ×2 + 3.86sERRORobjective_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: 1786659231.03533483 seconds ×3 + 3.91sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.91sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.91sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.91sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.91sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.91sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.92sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.92sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.92sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.92sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.92sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.92sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.164324 ms (missed cycles : 2). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.164324 ms (missed cycles : 2).[0m ×2 + 4.53sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1786659231.70068002 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.60sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.69sINFOobjective_server_nodeFound path in 0 iterations (9.31e-07 s). ×2 + 4.69sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.70sINFOros2_control_node[2026-08-13 22:13:51.874] [info] Received new action goal ×2 + 4.70sINFOros2_control_node[2026-08-13 22:13:51.874] [info] Accepted new action goal ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.530778 ms (missed cycles : 4). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.530778 ms (missed cycles : 4).[0m ×2 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.685965 ms (missed cycles : 6). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.685965 ms (missed cycles : 6).[0m ×2 + 6.61sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − skipped | Pick object | pick_object.xml | 0.0s | 3 errors · 29 warnings · 65 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.27% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.065836 ms (missed cycles : 6). + 0.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.065836 ms (missed cycles : 6).[0m ×2 + 0.90sINFOros2_control_node[2026-08-13 22:13:48.068] [info] Received new action goal ×2 + 0.90sINFOros2_control_node[2026-08-13 22:13:48.068] [info] Accepted new action goal ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.160137 ms (missed cycles : 2). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.160137 ms (missed cycles : 2).[0m ×2 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.036914 ms (missed cycles : 2). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.036914 ms (missed cycles : 2).[0m ×2 + 2.29sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.29sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.66sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×2 + 2.80sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×6 + 2.80sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.81sINFOros2_control_node[2026-08-13 22:13:49.984] [info] Received new action goal ×2 + 2.81sINFOros2_control_node[2026-08-13 22:13:49.984] [info] Accepted new action goal ×2 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.545231 ms (missed cycles : 5). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.545231 ms (missed cycles : 5).[0m ×2 + 3.84sINFOobjective_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 + 3.85sINFOros2_control_node[2026-08-13 22:13:51.021] [info] Got request to cancel active goal. ×2 + 3.85sINFOros2_control_node[2026-08-13 22:13:51.021] [info] Canceling active goal... ×2 + 3.86sERRORobjective_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: 1786659231.03533483 seconds ×3 + 3.91sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.91sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.91sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.91sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.91sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.91sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.92sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.92sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.92sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.92sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.92sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.92sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.164324 ms (missed cycles : 2). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.164324 ms (missed cycles : 2).[0m ×2 + 4.53sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1786659231.70068002 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.60sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.69sINFOobjective_server_nodeFound path in 0 iterations (9.31e-07 s). ×2 + 4.69sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.70sINFOros2_control_node[2026-08-13 22:13:51.874] [info] Received new action goal ×2 + 4.70sINFOros2_control_node[2026-08-13 22:13:51.874] [info] Accepted new action goal ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.530778 ms (missed cycles : 4). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.530778 ms (missed cycles : 4).[0m ×2 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.685965 ms (missed cycles : 6). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.685965 ms (missed cycles : 6).[0m ×2 + 6.61sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − skipped | Place at Pose | place_at_pose.xml | 0.0s | 3 errors · 29 warnings · 65 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.27% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.065836 ms (missed cycles : 6). + 0.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.065836 ms (missed cycles : 6).[0m ×2 + 0.90sINFOros2_control_node[2026-08-13 22:13:48.068] [info] Received new action goal ×2 + 0.90sINFOros2_control_node[2026-08-13 22:13:48.068] [info] Accepted new action goal ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.160137 ms (missed cycles : 2). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.160137 ms (missed cycles : 2).[0m ×2 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.036914 ms (missed cycles : 2). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.036914 ms (missed cycles : 2).[0m ×2 + 2.29sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.29sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.66sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×2 + 2.80sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×6 + 2.80sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.81sINFOros2_control_node[2026-08-13 22:13:49.984] [info] Received new action goal ×2 + 2.81sINFOros2_control_node[2026-08-13 22:13:49.984] [info] Accepted new action goal ×2 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.545231 ms (missed cycles : 5). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.545231 ms (missed cycles : 5).[0m ×2 + 3.84sINFOobjective_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 + 3.85sINFOros2_control_node[2026-08-13 22:13:51.021] [info] Got request to cancel active goal. ×2 + 3.85sINFOros2_control_node[2026-08-13 22:13:51.021] [info] Canceling active goal... ×2 + 3.86sERRORobjective_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: 1786659231.03533483 seconds ×3 + 3.91sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.91sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.91sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.91sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.91sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.91sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.92sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.92sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.92sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.92sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.92sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.92sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.164324 ms (missed cycles : 2). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.164324 ms (missed cycles : 2).[0m ×2 + 4.53sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1786659231.70068002 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.60sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.69sINFOobjective_server_nodeFound path in 0 iterations (9.31e-07 s). ×2 + 4.69sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.70sINFOros2_control_node[2026-08-13 22:13:51.874] [info] Received new action goal ×2 + 4.70sINFOros2_control_node[2026-08-13 22:13:51.874] [info] Accepted new action goal ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.530778 ms (missed cycles : 4). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.530778 ms (missed cycles : 4).[0m ×2 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.685965 ms (missed cycles : 6). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.685965 ms (missed cycles : 6).[0m ×2 + 6.61sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − skipped | Plan Move To Pose | plan_move_to_pose.xml | 0.0s | 3 errors · 20 warnings · 42 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828349 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828349 ms (missed cycles : 2).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.100607 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.100607 ms (missed cycles : 2).[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.045795 ms (missed cycles : 2). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.045795 ms (missed cycles : 2).[0m ×2 + 2.55sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 3.03sINFOobjective_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 + 3.04sERRORobjective_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: 1786659242.02109051 seconds ×3 + 3.14sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.14sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.14sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.14sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.14sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.14sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.15sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.15sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.15sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.16sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.16sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.918196 ms (missed cycles : 3). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.918196 ms (missed cycles : 3).[0m ×2 + 3.73sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1786659242.71281052 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.90sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.00sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 4.01sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 4.02sINFOros2_control_node[2026-08-13 22:14:03.005] [info] Received new action goal ×2 + 4.02sINFOros2_control_node[2026-08-13 22:14:03.005] [info] Accepted new action goal ×2 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.315016 ms (missed cycles : 5). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.315016 ms (missed cycles : 5).[0m ×2 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.006300 ms (missed cycles : 2). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.006300 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Record Square Trajectory | record_square_trajectory.xml | 0.0s | 3 errors · 22 warnings · 131 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 0.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.166642 ms (missed cycles : 2). + 0.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.166642 ms (missed cycles : 2).[0m ×2 + 1.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.509655 ms (missed cycles : 5). + 1.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.509655 ms (missed cycles : 5).[0m ×2 + 2.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.502358 ms (missed cycles : 2). + 2.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.502358 ms (missed cycles : 2).[0m ×2 + 3.75sINFOobjective_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 + 3.75sERRORobjective_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: 1786659263.52475643 seconds ×3 + 3.82sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.82sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.82sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.82sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.82sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.82sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.83sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.83sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.83sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.83sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.83sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.83sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.674758 ms (missed cycles : 3). + 3.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.674758 ms (missed cycles : 3).[0m ×2 + 4.41sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1786659264.18153048 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.44sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 4.44sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.46sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 4.46sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 4.49sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1786659264.26166320 seconds ×3 + 5.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.383496 ms (missed cycles : 4). + 5.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.383496 ms (missed cycles : 4).[0m ×2 + 5.09sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1786659264.85963655 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.11sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 5.11sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1786659264.88173199 seconds ×3 + 5.82sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1786659265.59605384 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.83sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.96sINFOobjective_server_nodeFound path in 0 iterations (5.15e-07 s). ×2 + 5.96sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 5.97sINFOros2_control_node[2026-08-13 22:14:25.739] [info] Received new action goal ×2 + 5.97sINFOros2_control_node[2026-08-13 22:14:25.739] [info] Accepted new action goal ×2 + 6.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.418047 ms (missed cycles : 4). + 6.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.418047 ms (missed cycles : 4).[0m ×2 + 6.09sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 | ||||
| − skipped | Reflect Poses Subtree | reflect_poses_subtree.xml | 0.0s | 3 errors · 22 warnings · 131 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 0.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.166642 ms (missed cycles : 2). + 0.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.166642 ms (missed cycles : 2).[0m ×2 + 1.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.509655 ms (missed cycles : 5). + 1.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.509655 ms (missed cycles : 5).[0m ×2 + 2.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.502358 ms (missed cycles : 2). + 2.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.502358 ms (missed cycles : 2).[0m ×2 + 3.75sINFOobjective_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 + 3.75sERRORobjective_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: 1786659263.52475643 seconds ×3 + 3.82sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.82sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.82sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.82sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.82sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.82sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.83sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.83sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.83sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.83sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.83sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.83sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.674758 ms (missed cycles : 3). + 3.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.674758 ms (missed cycles : 3).[0m ×2 + 4.41sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1786659264.18153048 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.44sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 4.44sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.46sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 4.46sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 4.49sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1786659264.26166320 seconds ×3 + 5.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.383496 ms (missed cycles : 4). + 5.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.383496 ms (missed cycles : 4).[0m ×2 + 5.09sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1786659264.85963655 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.11sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 5.11sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1786659264.88173199 seconds ×3 + 5.82sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1786659265.59605384 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.83sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.96sINFOobjective_server_nodeFound path in 0 iterations (5.15e-07 s). ×2 + 5.96sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 5.97sINFOros2_control_node[2026-08-13 22:14:25.739] [info] Received new action goal ×2 + 5.97sINFOros2_control_node[2026-08-13 22:14:25.739] [info] Accepted new action goal ×2 + 6.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.418047 ms (missed cycles : 4). + 6.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.418047 ms (missed cycles : 4).[0m ×2 + 6.09sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 | ||||
| − skipped | Register CAD Part | register_cad_part.xml | 0.0s | 3 errors · 22 warnings · 131 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 0.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.166642 ms (missed cycles : 2). + 0.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.166642 ms (missed cycles : 2).[0m ×2 + 1.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.509655 ms (missed cycles : 5). + 1.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.509655 ms (missed cycles : 5).[0m ×2 + 2.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.502358 ms (missed cycles : 2). + 2.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.502358 ms (missed cycles : 2).[0m ×2 + 3.75sINFOobjective_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 + 3.75sERRORobjective_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: 1786659263.52475643 seconds ×3 + 3.82sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.82sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.82sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.82sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.82sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.82sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.83sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.83sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.83sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.83sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.83sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.83sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.674758 ms (missed cycles : 3). + 3.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.674758 ms (missed cycles : 3).[0m ×2 + 4.41sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1786659264.18153048 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.44sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 4.44sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.46sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 4.46sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 4.49sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1786659264.26166320 seconds ×3 + 5.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.383496 ms (missed cycles : 4). + 5.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.383496 ms (missed cycles : 4).[0m ×2 + 5.09sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1786659264.85963655 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.11sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 5.11sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1786659264.88173199 seconds ×3 + 5.82sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1786659265.59605384 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.83sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.96sINFOobjective_server_nodeFound path in 0 iterations (5.15e-07 s). ×2 + 5.96sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 5.97sINFOros2_control_node[2026-08-13 22:14:25.739] [info] Received new action goal ×2 + 5.97sINFOros2_control_node[2026-08-13 22:14:25.739] [info] Accepted new action goal ×2 + 6.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.418047 ms (missed cycles : 4). + 6.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.418047 ms (missed cycles : 4).[0m ×2 + 6.09sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 | ||||
| − skipped | Register CAD Part Subtree | register_cad_part_subtree.xml | 0.0s | 3 errors · 22 warnings · 131 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 0.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.166642 ms (missed cycles : 2). + 0.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.166642 ms (missed cycles : 2).[0m ×2 + 1.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.509655 ms (missed cycles : 5). + 1.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.509655 ms (missed cycles : 5).[0m ×2 + 2.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.502358 ms (missed cycles : 2). + 2.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.502358 ms (missed cycles : 2).[0m ×2 + 3.75sINFOobjective_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 + 3.75sERRORobjective_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: 1786659263.52475643 seconds ×3 + 3.82sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.82sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.82sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.82sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.82sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.82sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.83sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.83sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.83sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.83sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.83sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.83sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.674758 ms (missed cycles : 3). + 3.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.674758 ms (missed cycles : 3).[0m ×2 + 4.41sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1786659264.18153048 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.44sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 4.44sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.46sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 4.46sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 4.49sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1786659264.26166320 seconds ×3 + 5.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.383496 ms (missed cycles : 4). + 5.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.383496 ms (missed cycles : 4).[0m ×2 + 5.09sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1786659264.85963655 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.11sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 5.11sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1786659264.88173199 seconds ×3 + 5.82sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1786659265.59605384 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.83sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.96sINFOobjective_server_nodeFound path in 0 iterations (5.15e-07 s). ×2 + 5.96sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 5.97sINFOros2_control_node[2026-08-13 22:14:25.739] [info] Received new action goal ×2 + 5.97sINFOros2_control_node[2026-08-13 22:14:25.739] [info] Accepted new action goal ×2 + 6.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.418047 ms (missed cycles : 4). + 6.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.418047 ms (missed cycles : 4).[0m ×2 + 6.09sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 | ||||
| − skipped | Add Point Cloud to Vector | add_point_cloud_to_vector.xml | 0.0s | 3 errors · 23 warnings · 99 info |
+ 0.00sINFOobjective_server_nodeFound path in 0 iterations (4.05e-07 s). ×2 + 0.01sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 0.02sINFOros2_control_node[2026-08-13 22:09:51.315] [info] Received new action goal ×2 + 0.02sINFOros2_control_node[2026-08-13 22:09:51.315] [info] Accepted new action goal ×2 + 0.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.698275 ms (missed cycles : 3). + 0.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.698275 ms (missed cycles : 3).[0m ×2 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.567903 ms (missed cycles : 2). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.567903 ms (missed cycles : 2).[0m ×2 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.493811 ms (missed cycles : 2). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.493811 ms (missed cycles : 2).[0m ×2 + 3.24sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.33sINFOobjective_server_nodeFound path in 0 iterations (3.24e-07 s). ×2 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.003910 ms (missed cycles : 3). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.003910 ms (missed cycles : 3).[0m ×2 + 3.33sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 3.35sINFOros2_control_node[2026-08-13 22:09:54.645] [info] Received new action goal ×2 + 3.35sINFOros2_control_node[2026-08-13 22:09:54.645] [info] Accepted new action goal ×2 + 3.72sINFOobjective_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 + 3.72sINFOros2_control_node[2026-08-13 22:09:55.021] [info] Got request to cancel active goal. ×2 + 3.72sINFOros2_control_node[2026-08-13 22:09:55.021] [info] Canceling active goal... ×2 + 3.74sERRORobjective_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: 1786658995.03684425 seconds ×3 + 3.75sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.75sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.75sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.75sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.75sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.75sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.76sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.76sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.76sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.76sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.76sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 4.38sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1786658995.67930222 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.307591 ms (missed cycles : 2). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.307591 ms (missed cycles : 2).[0m ×2 + 4.49sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1786658995.78942370 seconds ×3 + 4.50sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 5.09sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1786658996.39309120 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.10sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 5.10sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 5.29sINFOobjective_server_nodeFound path in 0 iterations (4.85e-07 s). ×2 + 5.29sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 5.30sINFOros2_control_node[2026-08-13 22:09:56.596] [info] Received new action goal ×2 + 5.30sINFOros2_control_node[2026-08-13 22:09:56.596] [info] Accepted new action goal ×2 + 5.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.921710 ms (missed cycles : 2). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.921710 ms (missed cycles : 2).[0m ×2 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.080196 ms (missed cycles : 3). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.080196 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Add Poses to MTC Task | add_poses_to_mtc_task.xml | 0.0s | 3 errors · 23 warnings · 99 info |
+ 0.00sINFOobjective_server_nodeFound path in 0 iterations (4.05e-07 s). ×2 + 0.01sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 0.02sINFOros2_control_node[2026-08-13 22:09:51.315] [info] Received new action goal ×2 + 0.02sINFOros2_control_node[2026-08-13 22:09:51.315] [info] Accepted new action goal ×2 + 0.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.698275 ms (missed cycles : 3). + 0.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.698275 ms (missed cycles : 3).[0m ×2 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.567903 ms (missed cycles : 2). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.567903 ms (missed cycles : 2).[0m ×2 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.493811 ms (missed cycles : 2). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.493811 ms (missed cycles : 2).[0m ×2 + 3.24sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.33sINFOobjective_server_nodeFound path in 0 iterations (3.24e-07 s). ×2 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.003910 ms (missed cycles : 3). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.003910 ms (missed cycles : 3).[0m ×2 + 3.33sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 3.35sINFOros2_control_node[2026-08-13 22:09:54.645] [info] Received new action goal ×2 + 3.35sINFOros2_control_node[2026-08-13 22:09:54.645] [info] Accepted new action goal ×2 + 3.72sINFOobjective_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 + 3.72sINFOros2_control_node[2026-08-13 22:09:55.021] [info] Got request to cancel active goal. ×2 + 3.72sINFOros2_control_node[2026-08-13 22:09:55.021] [info] Canceling active goal... ×2 + 3.74sERRORobjective_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: 1786658995.03684425 seconds ×3 + 3.75sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.75sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.75sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.75sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.75sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.75sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.76sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.76sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.76sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.76sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.76sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 4.38sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1786658995.67930222 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.307591 ms (missed cycles : 2). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.307591 ms (missed cycles : 2).[0m ×2 + 4.49sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1786658995.78942370 seconds ×3 + 4.50sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 5.09sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1786658996.39309120 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.10sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 5.10sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 5.29sINFOobjective_server_nodeFound path in 0 iterations (4.85e-07 s). ×2 + 5.29sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 5.30sINFOros2_control_node[2026-08-13 22:09:56.596] [info] Received new action goal ×2 + 5.30sINFOros2_control_node[2026-08-13 22:09:56.596] [info] Accepted new action goal ×2 + 5.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.921710 ms (missed cycles : 2). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.921710 ms (missed cycles : 2).[0m ×2 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.080196 ms (missed cycles : 3). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.080196 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Add Waypoints to MTC Task | add_waypoints_to_mtc_task.xml | 0.0s | 3 errors · 23 warnings · 91 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.567903 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.567903 ms (missed cycles : 2).[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.493811 ms (missed cycles : 2). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.493811 ms (missed cycles : 2).[0m ×2 + 2.08sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 2.17sINFOobjective_server_nodeFound path in 0 iterations (3.24e-07 s). ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.003910 ms (missed cycles : 3). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.003910 ms (missed cycles : 3).[0m ×2 + 2.18sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 2.19sINFOros2_control_node[2026-08-13 22:09:54.645] [info] Received new action goal ×2 + 2.19sINFOros2_control_node[2026-08-13 22:09:54.645] [info] Accepted new action goal ×2 + 2.56sINFOobjective_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 + 2.57sINFOros2_control_node[2026-08-13 22:09:55.021] [info] Got request to cancel active goal. ×2 + 2.57sINFOros2_control_node[2026-08-13 22:09:55.021] [info] Canceling active goal... ×2 + 2.58sERRORobjective_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: 1786658995.03684425 seconds ×3 + 2.59sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.60sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.60sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.60sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.60sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.60sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.60sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.60sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.60sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.60sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.61sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.61sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.23sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1786658995.67930222 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.307591 ms (missed cycles : 2). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.307591 ms (missed cycles : 2).[0m ×2 + 3.34sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1786658995.78942370 seconds ×3 + 3.35sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 3.94sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1786658996.39309120 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.94sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.94sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.13sINFOobjective_server_nodeFound path in 0 iterations (4.85e-07 s). ×2 + 4.13sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.14sINFOros2_control_node[2026-08-13 22:09:56.596] [info] Received new action goal ×2 + 4.14sINFOros2_control_node[2026-08-13 22:09:56.596] [info] Accepted new action goal ×2 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.921710 ms (missed cycles : 2). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.921710 ms (missed cycles : 2).[0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.080196 ms (missed cycles : 3). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.080196 ms (missed cycles : 3).[0m ×2 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.939060 ms (missed cycles : 2). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.939060 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | AddBottlesToPlanningScene | addbottlestoplanningscene.xml | 0.0s | 3 errors · 23 warnings · 91 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.567903 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.567903 ms (missed cycles : 2).[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.493811 ms (missed cycles : 2). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.493811 ms (missed cycles : 2).[0m ×2 + 2.08sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 2.17sINFOobjective_server_nodeFound path in 0 iterations (3.24e-07 s). ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.003910 ms (missed cycles : 3). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.003910 ms (missed cycles : 3).[0m ×2 + 2.18sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 2.19sINFOros2_control_node[2026-08-13 22:09:54.645] [info] Received new action goal ×2 + 2.19sINFOros2_control_node[2026-08-13 22:09:54.645] [info] Accepted new action goal ×2 + 2.56sINFOobjective_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 + 2.57sINFOros2_control_node[2026-08-13 22:09:55.021] [info] Got request to cancel active goal. ×2 + 2.57sINFOros2_control_node[2026-08-13 22:09:55.021] [info] Canceling active goal... ×2 + 2.58sERRORobjective_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: 1786658995.03684425 seconds ×3 + 2.59sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.60sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.60sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.60sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.60sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.60sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.60sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.60sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.60sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.60sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.61sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.61sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.23sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1786658995.67930222 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.307591 ms (missed cycles : 2). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.307591 ms (missed cycles : 2).[0m ×2 + 3.34sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1786658995.78942370 seconds ×3 + 3.35sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 3.94sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1786658996.39309120 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.94sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.94sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.13sINFOobjective_server_nodeFound path in 0 iterations (4.85e-07 s). ×2 + 4.13sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.14sINFOros2_control_node[2026-08-13 22:09:56.596] [info] Received new action goal ×2 + 4.14sINFOros2_control_node[2026-08-13 22:09:56.596] [info] Accepted new action goal ×2 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.921710 ms (missed cycles : 2). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.921710 ms (missed cycles : 2).[0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.080196 ms (missed cycles : 3). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.080196 ms (missed cycles : 3).[0m ×2 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.939060 ms (missed cycles : 2). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.939060 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | AddCollisionBoxInFrontOfEndEffector | addcollisionboxinfrontofendeffector.xml | 0.0s | 3 errors · 23 warnings · 91 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.567903 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.567903 ms (missed cycles : 2).[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.493811 ms (missed cycles : 2). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.493811 ms (missed cycles : 2).[0m ×2 + 2.08sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 2.17sINFOobjective_server_nodeFound path in 0 iterations (3.24e-07 s). ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.003910 ms (missed cycles : 3). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.003910 ms (missed cycles : 3).[0m ×2 + 2.18sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 2.19sINFOros2_control_node[2026-08-13 22:09:54.645] [info] Received new action goal ×2 + 2.19sINFOros2_control_node[2026-08-13 22:09:54.645] [info] Accepted new action goal ×2 + 2.56sINFOobjective_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 + 2.57sINFOros2_control_node[2026-08-13 22:09:55.021] [info] Got request to cancel active goal. ×2 + 2.57sINFOros2_control_node[2026-08-13 22:09:55.021] [info] Canceling active goal... ×2 + 2.58sERRORobjective_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: 1786658995.03684425 seconds ×3 + 2.59sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.60sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.60sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.60sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.60sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.60sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.60sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.60sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.60sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.60sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.61sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.61sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.23sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1786658995.67930222 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.307591 ms (missed cycles : 2). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.307591 ms (missed cycles : 2).[0m ×2 + 3.34sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1786658995.78942370 seconds ×3 + 3.35sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 3.94sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1786658996.39309120 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.94sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.94sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.13sINFOobjective_server_nodeFound path in 0 iterations (4.85e-07 s). ×2 + 4.13sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.14sINFOros2_control_node[2026-08-13 22:09:56.596] [info] Received new action goal ×2 + 4.14sINFOros2_control_node[2026-08-13 22:09:56.596] [info] Accepted new action goal ×2 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.921710 ms (missed cycles : 2). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.921710 ms (missed cycles : 2).[0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.080196 ms (missed cycles : 3). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.080196 ms (missed cycles : 3).[0m ×2 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.939060 ms (missed cycles : 2). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.939060 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | AddCollisionObjectToPlanningScene | addcollisionobjecttoplanningscene.xml | 0.0s | 3 errors · 23 warnings · 91 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.567903 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.567903 ms (missed cycles : 2).[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.493811 ms (missed cycles : 2). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.493811 ms (missed cycles : 2).[0m ×2 + 2.08sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 2.17sINFOobjective_server_nodeFound path in 0 iterations (3.24e-07 s). ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.003910 ms (missed cycles : 3). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.003910 ms (missed cycles : 3).[0m ×2 + 2.18sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 2.19sINFOros2_control_node[2026-08-13 22:09:54.645] [info] Received new action goal ×2 + 2.19sINFOros2_control_node[2026-08-13 22:09:54.645] [info] Accepted new action goal ×2 + 2.56sINFOobjective_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 + 2.57sINFOros2_control_node[2026-08-13 22:09:55.021] [info] Got request to cancel active goal. ×2 + 2.57sINFOros2_control_node[2026-08-13 22:09:55.021] [info] Canceling active goal... ×2 + 2.58sERRORobjective_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: 1786658995.03684425 seconds ×3 + 2.59sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.60sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.60sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.60sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.60sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.60sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.60sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.60sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.60sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.60sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.61sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.61sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.23sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1786658995.67930222 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.307591 ms (missed cycles : 2). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.307591 ms (missed cycles : 2).[0m ×2 + 3.34sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1786658995.78942370 seconds ×3 + 3.35sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 3.94sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1786658996.39309120 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.94sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.94sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.13sINFOobjective_server_nodeFound path in 0 iterations (4.85e-07 s). ×2 + 4.13sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.14sINFOros2_control_node[2026-08-13 22:09:56.596] [info] Received new action goal ×2 + 4.14sINFOros2_control_node[2026-08-13 22:09:56.596] [info] Accepted new action goal ×2 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.921710 ms (missed cycles : 2). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.921710 ms (missed cycles : 2).[0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.080196 ms (missed cycles : 3). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.080196 ms (missed cycles : 3).[0m ×2 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.939060 ms (missed cycles : 2). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.939060 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Constrained Pick and Place Subtree | constrained_pick_and_place_subtree.xml | 0.0s | 28 warnings · 83 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.17 s); wrist_camera (1.17 s). The render path has stopped producing new frames for them.[0m ×2 + 0.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.980539 ms (missed cycles : 2). + 0.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.980539 ms (missed cycles : 2).[0m ×2 + 0.93sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.93sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.613787 ms (missed cycles : 4). + 1.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.613787 ms (missed cycles : 4).[0m ×2 + 1.44sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 1.44sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.45sINFOros2_control_node[2026-08-13 22:10:09.937] [info] Received new action goal ×2 + 1.45sINFOros2_control_node[2026-08-13 22:10:09.937] [info] Accepted new action goal ×2 + 2.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.949310 ms (missed cycles : 2). + 2.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.949310 ms (missed cycles : 2).[0m ×2 + 2.84sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1786659011.32352805 seconds ×3 + 2.84sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.84sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.84sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.84sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.84sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.84sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.85sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.85sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.85sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.85sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.85sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.85sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.005856 ms (missed cycles : 3). + 3.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.005856 ms (missed cycles : 3).[0m ×2 + 3.46sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1786659011.94726753 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1786659011.99740314 seconds ×3 + 4.16sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1786659012.64167285 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.17sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.27sINFOobjective_server_nodeFound path in 0 iterations (2.86e-07 s). ×2 + 4.27sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.28sINFOros2_control_node[2026-08-13 22:10:12.766] [info] Received new action goal ×2 + 4.28sINFOros2_control_node[2026-08-13 22:10:12.766] [info] Accepted new action goal ×2 + 4.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.546671 ms (missed cycles : 5). + 4.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.546671 ms (missed cycles : 5).[0m ×2 + 5.37sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 5.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.867324 ms (missed cycles : 3). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.867324 ms (missed cycles : 3).[0m ×2 + 6.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.005536 ms (missed cycles : 3). + 6.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.005536 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Create PCL Poses Vector | create_pcl_poses_vector.xml | 0.0s | 28 warnings · 83 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.17 s); wrist_camera (1.17 s). The render path has stopped producing new frames for them.[0m ×2 + 0.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.980539 ms (missed cycles : 2). + 0.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.980539 ms (missed cycles : 2).[0m ×2 + 0.93sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.93sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.613787 ms (missed cycles : 4). + 1.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.613787 ms (missed cycles : 4).[0m ×2 + 1.44sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 1.44sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.45sINFOros2_control_node[2026-08-13 22:10:09.937] [info] Received new action goal ×2 + 1.45sINFOros2_control_node[2026-08-13 22:10:09.937] [info] Accepted new action goal ×2 + 2.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.949310 ms (missed cycles : 2). + 2.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.949310 ms (missed cycles : 2).[0m ×2 + 2.84sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1786659011.32352805 seconds ×3 + 2.84sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.84sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.84sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.84sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.84sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.84sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.85sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.85sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.85sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.85sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.85sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.85sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.005856 ms (missed cycles : 3). + 3.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.005856 ms (missed cycles : 3).[0m ×2 + 3.46sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1786659011.94726753 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1786659011.99740314 seconds ×3 + 4.16sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1786659012.64167285 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.17sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.27sINFOobjective_server_nodeFound path in 0 iterations (2.86e-07 s). ×2 + 4.27sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.28sINFOros2_control_node[2026-08-13 22:10:12.766] [info] Received new action goal ×2 + 4.28sINFOros2_control_node[2026-08-13 22:10:12.766] [info] Accepted new action goal ×2 + 4.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.546671 ms (missed cycles : 5). + 4.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.546671 ms (missed cycles : 5).[0m ×2 + 5.37sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 5.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.867324 ms (missed cycles : 3). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.867324 ms (missed cycles : 3).[0m ×2 + 6.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.005536 ms (missed cycles : 3). + 6.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.005536 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Create Pose Vector | create_pose_vector.xml | 0.0s | 28 warnings · 83 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.17 s); wrist_camera (1.17 s). The render path has stopped producing new frames for them.[0m ×2 + 0.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.980539 ms (missed cycles : 2). + 0.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.980539 ms (missed cycles : 2).[0m ×2 + 0.93sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.93sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.613787 ms (missed cycles : 4). + 1.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.613787 ms (missed cycles : 4).[0m ×2 + 1.44sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 1.44sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.45sINFOros2_control_node[2026-08-13 22:10:09.937] [info] Received new action goal ×2 + 1.45sINFOros2_control_node[2026-08-13 22:10:09.937] [info] Accepted new action goal ×2 + 2.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.949310 ms (missed cycles : 2). + 2.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.949310 ms (missed cycles : 2).[0m ×2 + 2.84sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1786659011.32352805 seconds ×3 + 2.84sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.84sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.84sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.84sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.84sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.84sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.85sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.85sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.85sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.85sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.85sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.85sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.005856 ms (missed cycles : 3). + 3.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.005856 ms (missed cycles : 3).[0m ×2 + 3.46sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1786659011.94726753 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1786659011.99740314 seconds ×3 + 4.16sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1786659012.64167285 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.17sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.27sINFOobjective_server_nodeFound path in 0 iterations (2.86e-07 s). ×2 + 4.27sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.28sINFOros2_control_node[2026-08-13 22:10:12.766] [info] Received new action goal ×2 + 4.28sINFOros2_control_node[2026-08-13 22:10:12.766] [info] Accepted new action goal ×2 + 4.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.546671 ms (missed cycles : 5). + 4.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.546671 ms (missed cycles : 5).[0m ×2 + 5.37sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 5.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.867324 ms (missed cycles : 3). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.867324 ms (missed cycles : 3).[0m ×2 + 6.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.005536 ms (missed cycles : 3). + 6.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.005536 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | ErrorCheckVectorSize | errorcheckvectorsize.xml | 0.0s | 3 errors · 20 warnings · 59 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.139702 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.139702 ms (missed cycles : 2).[0m ×2 + 0.62sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 0.84sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.93sINFOobjective_server_nodeFound path in 0 iterations (4e-07 s). ×2 + 0.93sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.94sINFOros2_control_node[2026-08-13 22:10:20.813] [info] Received new action goal ×2 + 0.94sINFOros2_control_node[2026-08-13 22:10:20.813] [info] Accepted new action goal ×2 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.061524 ms (missed cycles : 7). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.061524 ms (missed cycles : 7).[0m ×2 + 2.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.526912 ms (missed cycles : 4). + 2.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.526912 ms (missed cycles : 4).[0m ×2 + 3.18sINFOobjective_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 + 3.19sERRORobjective_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: 1786659023.06181598 seconds ×3 + 3.24sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.24sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.24sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.24sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.24sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.24sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.24sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.25sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.25sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.25sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.25sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.170330 ms (missed cycles : 6). + 3.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.170330 ms (missed cycles : 6).[0m ×2 + 3.83sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1786659023.70290136 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.83sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.83sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.02sINFOobjective_server_nodeFound path in 0 iterations (4.39e-07 s). ×2 + 4.02sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.03sINFOros2_control_node[2026-08-13 22:10:23.906] [info] Received new action goal ×2 + 4.03sINFOros2_control_node[2026-08-13 22:10:23.906] [info] Accepted new action goal ×2 + 4.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.648099 ms (missed cycles : 5). + 4.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.648099 ms (missed cycles : 5).[0m ×2 + 6.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.793760 ms (missed cycles : 3). + 6.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.793760 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Fit Bottle Model Subtree | fit_bottle_model_subtree.xml | 0.0s | 3 errors · 20 warnings · 59 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.139702 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.139702 ms (missed cycles : 2).[0m ×2 + 0.62sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 0.84sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.93sINFOobjective_server_nodeFound path in 0 iterations (4e-07 s). ×2 + 0.93sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.94sINFOros2_control_node[2026-08-13 22:10:20.813] [info] Received new action goal ×2 + 0.94sINFOros2_control_node[2026-08-13 22:10:20.813] [info] Accepted new action goal ×2 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.061524 ms (missed cycles : 7). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.061524 ms (missed cycles : 7).[0m ×2 + 2.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.526912 ms (missed cycles : 4). + 2.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.526912 ms (missed cycles : 4).[0m ×2 + 3.18sINFOobjective_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 + 3.19sERRORobjective_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: 1786659023.06181598 seconds ×3 + 3.24sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.24sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.24sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.24sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.24sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.24sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.24sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.25sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.25sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.25sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.25sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.170330 ms (missed cycles : 6). + 3.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.170330 ms (missed cycles : 6).[0m ×2 + 3.83sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1786659023.70290136 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.83sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.83sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.02sINFOobjective_server_nodeFound path in 0 iterations (4.39e-07 s). ×2 + 4.02sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.03sINFOros2_control_node[2026-08-13 22:10:23.906] [info] Received new action goal ×2 + 4.03sINFOros2_control_node[2026-08-13 22:10:23.906] [info] Accepted new action goal ×2 + 4.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.648099 ms (missed cycles : 5). + 4.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.648099 ms (missed cycles : 5).[0m ×2 + 6.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.793760 ms (missed cycles : 3). + 6.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.793760 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Force Relaxation | force_relaxation.xml | 0.0s | 3 errors · 20 warnings · 59 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.139702 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.139702 ms (missed cycles : 2).[0m ×2 + 0.62sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 0.84sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.93sINFOobjective_server_nodeFound path in 0 iterations (4e-07 s). ×2 + 0.93sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.94sINFOros2_control_node[2026-08-13 22:10:20.813] [info] Received new action goal ×2 + 0.94sINFOros2_control_node[2026-08-13 22:10:20.813] [info] Accepted new action goal ×2 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.061524 ms (missed cycles : 7). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.061524 ms (missed cycles : 7).[0m ×2 + 2.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.526912 ms (missed cycles : 4). + 2.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.526912 ms (missed cycles : 4).[0m ×2 + 3.18sINFOobjective_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 + 3.19sERRORobjective_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: 1786659023.06181598 seconds ×3 + 3.24sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.24sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.24sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.24sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.24sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.24sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.24sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.25sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.25sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.25sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.25sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.170330 ms (missed cycles : 6). + 3.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.170330 ms (missed cycles : 6).[0m ×2 + 3.83sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1786659023.70290136 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.83sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.83sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.02sINFOobjective_server_nodeFound path in 0 iterations (4.39e-07 s). ×2 + 4.02sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.03sINFOros2_control_node[2026-08-13 22:10:23.906] [info] Received new action goal ×2 + 4.03sINFOros2_control_node[2026-08-13 22:10:23.906] [info] Accepted new action goal ×2 + 4.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.648099 ms (missed cycles : 5). + 4.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.648099 ms (missed cycles : 5).[0m ×2 + 6.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.793760 ms (missed cycles : 3). + 6.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.793760 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Fuse Multiple Views Subtree | fuse_multiple_views_subtree.xml | 0.0s | 3 errors · 20 warnings · 59 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.139702 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.139702 ms (missed cycles : 2).[0m ×2 + 0.62sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 0.84sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.93sINFOobjective_server_nodeFound path in 0 iterations (4e-07 s). ×2 + 0.93sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.94sINFOros2_control_node[2026-08-13 22:10:20.813] [info] Received new action goal ×2 + 0.94sINFOros2_control_node[2026-08-13 22:10:20.813] [info] Accepted new action goal ×2 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.061524 ms (missed cycles : 7). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.061524 ms (missed cycles : 7).[0m ×2 + 2.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.526912 ms (missed cycles : 4). + 2.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.526912 ms (missed cycles : 4).[0m ×2 + 3.18sINFOobjective_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 + 3.19sERRORobjective_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: 1786659023.06181598 seconds ×3 + 3.24sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.24sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.24sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.24sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.24sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.24sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.24sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.25sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.25sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.25sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.25sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.170330 ms (missed cycles : 6). + 3.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.170330 ms (missed cycles : 6).[0m ×2 + 3.83sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1786659023.70290136 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.83sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.83sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.02sINFOobjective_server_nodeFound path in 0 iterations (4.39e-07 s). ×2 + 4.02sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.03sINFOros2_control_node[2026-08-13 22:10:23.906] [info] Received new action goal ×2 + 4.03sINFOros2_control_node[2026-08-13 22:10:23.906] [info] Accepted new action goal ×2 + 4.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.648099 ms (missed cycles : 5). + 4.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.648099 ms (missed cycles : 5).[0m ×2 + 6.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.793760 ms (missed cycles : 3). + 6.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.793760 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Get AprilTag Pose from Image | get_april_tag_pose_from_image.xml | 0.0s | 3 errors · 20 warnings · 59 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.139702 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.139702 ms (missed cycles : 2).[0m ×2 + 0.62sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 0.84sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.93sINFOobjective_server_nodeFound path in 0 iterations (4e-07 s). ×2 + 0.93sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.94sINFOros2_control_node[2026-08-13 22:10:20.813] [info] Received new action goal ×2 + 0.94sINFOros2_control_node[2026-08-13 22:10:20.813] [info] Accepted new action goal ×2 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.061524 ms (missed cycles : 7). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.061524 ms (missed cycles : 7).[0m ×2 + 2.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.526912 ms (missed cycles : 4). + 2.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.526912 ms (missed cycles : 4).[0m ×2 + 3.18sINFOobjective_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 + 3.19sERRORobjective_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: 1786659023.06181598 seconds ×3 + 3.24sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.24sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.24sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.24sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.24sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.24sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.24sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.25sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.25sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.25sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.25sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.170330 ms (missed cycles : 6). + 3.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.170330 ms (missed cycles : 6).[0m ×2 + 3.83sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1786659023.70290136 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.83sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.83sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.02sINFOobjective_server_nodeFound path in 0 iterations (4.39e-07 s). ×2 + 4.02sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.03sINFOros2_control_node[2026-08-13 22:10:23.906] [info] Received new action goal ×2 + 4.03sINFOros2_control_node[2026-08-13 22:10:23.906] [info] Accepted new action goal ×2 + 4.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.648099 ms (missed cycles : 5). + 4.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.648099 ms (missed cycles : 5).[0m ×2 + 6.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.793760 ms (missed cycles : 3). + 6.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.793760 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Get Bottle Grasp via ICP Subtree | get_bottle_grasp_via_icp_subtree.xml | 0.0s | 3 errors · 20 warnings · 59 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.139702 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.139702 ms (missed cycles : 2).[0m ×2 + 0.62sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 0.84sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.93sINFOobjective_server_nodeFound path in 0 iterations (4e-07 s). ×2 + 0.93sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.94sINFOros2_control_node[2026-08-13 22:10:20.813] [info] Received new action goal ×2 + 0.94sINFOros2_control_node[2026-08-13 22:10:20.813] [info] Accepted new action goal ×2 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.061524 ms (missed cycles : 7). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.061524 ms (missed cycles : 7).[0m ×2 + 2.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.526912 ms (missed cycles : 4). + 2.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.526912 ms (missed cycles : 4).[0m ×2 + 3.18sINFOobjective_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 + 3.19sERRORobjective_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: 1786659023.06181598 seconds ×3 + 3.24sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.24sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.24sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.24sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.24sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.24sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.24sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.25sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.25sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.25sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.25sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.170330 ms (missed cycles : 6). + 3.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.170330 ms (missed cycles : 6).[0m ×2 + 3.83sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1786659023.70290136 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.83sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.83sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.02sINFOobjective_server_nodeFound path in 0 iterations (4.39e-07 s). ×2 + 4.02sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.03sINFOros2_control_node[2026-08-13 22:10:23.906] [info] Received new action goal ×2 + 4.03sINFOros2_control_node[2026-08-13 22:10:23.906] [info] Accepted new action goal ×2 + 4.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.648099 ms (missed cycles : 5). + 4.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.648099 ms (missed cycles : 5).[0m ×2 + 6.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.793760 ms (missed cycles : 3). + 6.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.793760 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Get Collision Free Grasp Subtree | get_collision_free_grasp_subtree.xml | 0.0s | 3 errors · 20 warnings · 59 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.139702 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.139702 ms (missed cycles : 2).[0m ×2 + 0.62sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 0.84sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.93sINFOobjective_server_nodeFound path in 0 iterations (4e-07 s). ×2 + 0.93sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.94sINFOros2_control_node[2026-08-13 22:10:20.813] [info] Received new action goal ×2 + 0.94sINFOros2_control_node[2026-08-13 22:10:20.813] [info] Accepted new action goal ×2 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.061524 ms (missed cycles : 7). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.061524 ms (missed cycles : 7).[0m ×2 + 2.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.526912 ms (missed cycles : 4). + 2.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.526912 ms (missed cycles : 4).[0m ×2 + 3.18sINFOobjective_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 + 3.19sERRORobjective_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: 1786659023.06181598 seconds ×3 + 3.24sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.24sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.24sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.24sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.24sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.24sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.24sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.25sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.25sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.25sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.25sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.170330 ms (missed cycles : 6). + 3.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.170330 ms (missed cycles : 6).[0m ×2 + 3.83sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1786659023.70290136 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.83sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.83sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.02sINFOobjective_server_nodeFound path in 0 iterations (4.39e-07 s). ×2 + 4.02sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.03sINFOros2_control_node[2026-08-13 22:10:23.906] [info] Received new action goal ×2 + 4.03sINFOros2_control_node[2026-08-13 22:10:23.906] [info] Accepted new action goal ×2 + 4.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.648099 ms (missed cycles : 5). + 4.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.648099 ms (missed cycles : 5).[0m ×2 + 6.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.793760 ms (missed cycles : 3). + 6.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.793760 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Get Transform Frame Pose | get_transform_frame_pose.xml | 0.0s | 3 errors · 20 warnings · 59 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.139702 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.139702 ms (missed cycles : 2).[0m ×2 + 0.62sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 0.84sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.93sINFOobjective_server_nodeFound path in 0 iterations (4e-07 s). ×2 + 0.93sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.94sINFOros2_control_node[2026-08-13 22:10:20.813] [info] Received new action goal ×2 + 0.94sINFOros2_control_node[2026-08-13 22:10:20.813] [info] Accepted new action goal ×2 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.061524 ms (missed cycles : 7). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.061524 ms (missed cycles : 7).[0m ×2 + 2.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.526912 ms (missed cycles : 4). + 2.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.526912 ms (missed cycles : 4).[0m ×2 + 3.18sINFOobjective_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 + 3.19sERRORobjective_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: 1786659023.06181598 seconds ×3 + 3.24sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.24sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.24sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.24sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.24sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.24sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.24sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.25sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.25sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.25sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.25sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.170330 ms (missed cycles : 6). + 3.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.170330 ms (missed cycles : 6).[0m ×2 + 3.83sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1786659023.70290136 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.83sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.83sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.02sINFOobjective_server_nodeFound path in 0 iterations (4.39e-07 s). ×2 + 4.02sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.03sINFOros2_control_node[2026-08-13 22:10:23.906] [info] Received new action goal ×2 + 4.03sINFOros2_control_node[2026-08-13 22:10:23.906] [info] Accepted new action goal ×2 + 4.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.648099 ms (missed cycles : 5). + 4.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.648099 ms (missed cycles : 5).[0m ×2 + 6.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.793760 ms (missed cycles : 3). + 6.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.793760 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | LoadAndVisualizePointCloud | load_and_visualize_point_cloud.xml | 0.0s | 20 warnings · 97 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.010261 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.010261 ms (missed cycles : 6).[0m ×2 + 1.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.994468 ms (missed cycles : 3). + 1.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.994468 ms (missed cycles : 3).[0m ×2 + 2.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.776157 ms (missed cycles : 2). + 2.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.776157 ms (missed cycles : 2).[0m ×2 + 2.46sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 3.00sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1786659057.11719847 seconds ×3 + 3.00sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 3.01sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 3.01sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.01sINFOcontroller_managerSuccessfully switched controllers! ×6 + 3.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 3.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 3.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.01sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 3.02sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 3.03sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 3.03sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 3.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.456750 ms (missed cycles : 3). + 3.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.456750 ms (missed cycles : 3).[0m ×2 + 3.67sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1786659057.79367590 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.71sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.71sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.72sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.72sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.74sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1786659057.86380720 seconds ×3 + 4.35sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1786659058.47133780 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.36sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.46sINFOobjective_server_nodeFound path in 0 iterations (3.12e-07 s). ×2 + 4.46sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.47sINFOros2_control_node[2026-08-13 22:10:58.586] [info] Received new action goal ×2 + 4.47sINFOros2_control_node[2026-08-13 22:10:58.586] [info] Accepted new action goal ×2 + 4.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.341144 ms (missed cycles : 5). + 4.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.341144 ms (missed cycles : 5).[0m ×2 + 5.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.994929 ms (missed cycles : 5). + 5.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.994929 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | ML Segment Image | ml_segment_image.xml | 0.0s | 23 warnings · 73 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.937362 ms (missed cycles : 7). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.937362 ms (missed cycles : 7).[0m ×2 + 0.35sINFOobjective_server_node[2026-08-13 22:11:05.630] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 0.91sINFOobjective_server_node[0;93m2026-08-13 22:11:06.188659680 [W:onnxruntime:, session_state.cc:1327 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 0.91sINFOobjective_server_node[0;93m2026-08-13 22:11:06.188704062 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.774379 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.774379 ms (missed cycles : 2).[0m ×2 + 1.08sINFOobjective_server_node[2026-08-13 22:11:06.359] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.13sINFOobjective_server_node[0;93m2026-08-13 22:11:06.412064775 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 5 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 1.13sINFOobjective_server_node[0;93m2026-08-13 22:11:06.415131113 [W:onnxruntime:, session_state.cc:1327 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 1.13sINFOobjective_server_node[0;93m2026-08-13 22:11:06.415152724 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.20sINFOobjective_server_node[2026-08-13 22:11:06.479] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.61sINFOobjective_server_node[0;93m2026-08-13 22:11:06.886099984 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 1 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 1.63sINFOobjective_server_node[0;93m2026-08-13 22:11:06.906507879 [W:onnxruntime:, session_state.cc:1327 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 1.63sINFOobjective_server_node[0;93m2026-08-13 22:11:06.906537609 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.662686 ms (missed cycles : 4). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.662686 ms (missed cycles : 4).[0m ×2 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.218370 ms (missed cycles : 2). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.218370 ms (missed cycles : 2).[0m ×2 + 3.31sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×2 + 3.49sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1786659068.77398801 seconds ×3 + 3.56sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.57sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.57sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.57sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.57sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.57sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.57sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.58sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.58sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.58sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.58sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.58sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.16sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1786659069.44527125 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.17sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.17sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.358435 ms (missed cycles : 3). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.358435 ms (missed cycles : 3).[0m ×2 + 4.25sINFOobjective_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 + 4.25sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.54sINFOobjective_server_nodeFound path in 0 iterations (4.44e-07 s). ×2 + 4.54sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.57sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.58sINFOros2_control_node[2026-08-13 22:11:09.863] [info] Received new action goal ×2 + 4.58sINFOros2_control_node[2026-08-13 22:11:09.863] [info] Accepted new action goal ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.193926 ms (missed cycles : 2). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.193926 ms (missed cycles : 2).[0m ×2 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.726592 ms (missed cycles : 2). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.726592 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | ML Segment Image Loop | ml_segment_image_loop.xml | 0.0s | 23 warnings · 73 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.937362 ms (missed cycles : 7). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.937362 ms (missed cycles : 7).[0m ×2 + 0.35sINFOobjective_server_node[2026-08-13 22:11:05.630] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 0.91sINFOobjective_server_node[0;93m2026-08-13 22:11:06.188659680 [W:onnxruntime:, session_state.cc:1327 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 0.91sINFOobjective_server_node[0;93m2026-08-13 22:11:06.188704062 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.774379 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.774379 ms (missed cycles : 2).[0m ×2 + 1.08sINFOobjective_server_node[2026-08-13 22:11:06.359] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.13sINFOobjective_server_node[0;93m2026-08-13 22:11:06.412064775 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 5 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 1.13sINFOobjective_server_node[0;93m2026-08-13 22:11:06.415131113 [W:onnxruntime:, session_state.cc:1327 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 1.13sINFOobjective_server_node[0;93m2026-08-13 22:11:06.415152724 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.20sINFOobjective_server_node[2026-08-13 22:11:06.479] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.61sINFOobjective_server_node[0;93m2026-08-13 22:11:06.886099984 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 1 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 1.63sINFOobjective_server_node[0;93m2026-08-13 22:11:06.906507879 [W:onnxruntime:, session_state.cc:1327 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 1.63sINFOobjective_server_node[0;93m2026-08-13 22:11:06.906537609 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.662686 ms (missed cycles : 4). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.662686 ms (missed cycles : 4).[0m ×2 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.218370 ms (missed cycles : 2). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.218370 ms (missed cycles : 2).[0m ×2 + 3.31sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×2 + 3.49sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1786659068.77398801 seconds ×3 + 3.56sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.57sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.57sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.57sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.57sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.57sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.57sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.58sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.58sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.58sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.58sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.58sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.16sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1786659069.44527125 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.17sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.17sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.358435 ms (missed cycles : 3). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.358435 ms (missed cycles : 3).[0m ×2 + 4.25sINFOobjective_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 + 4.25sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.54sINFOobjective_server_nodeFound path in 0 iterations (4.44e-07 s). ×2 + 4.54sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.57sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.58sINFOros2_control_node[2026-08-13 22:11:09.863] [info] Received new action goal ×2 + 4.58sINFOros2_control_node[2026-08-13 22:11:09.863] [info] Accepted new action goal ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.193926 ms (missed cycles : 2). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.193926 ms (missed cycles : 2).[0m ×2 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.726592 ms (missed cycles : 2). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.726592 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Move Along Square | move_along_square.xml | 0.0s | 23 warnings · 73 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.937362 ms (missed cycles : 7). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.937362 ms (missed cycles : 7).[0m ×2 + 0.35sINFOobjective_server_node[2026-08-13 22:11:05.630] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 0.91sINFOobjective_server_node[0;93m2026-08-13 22:11:06.188659680 [W:onnxruntime:, session_state.cc:1327 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 0.91sINFOobjective_server_node[0;93m2026-08-13 22:11:06.188704062 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.774379 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.774379 ms (missed cycles : 2).[0m ×2 + 1.08sINFOobjective_server_node[2026-08-13 22:11:06.359] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.13sINFOobjective_server_node[0;93m2026-08-13 22:11:06.412064775 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 5 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 1.13sINFOobjective_server_node[0;93m2026-08-13 22:11:06.415131113 [W:onnxruntime:, session_state.cc:1327 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 1.13sINFOobjective_server_node[0;93m2026-08-13 22:11:06.415152724 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.20sINFOobjective_server_node[2026-08-13 22:11:06.479] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.61sINFOobjective_server_node[0;93m2026-08-13 22:11:06.886099984 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 1 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 1.63sINFOobjective_server_node[0;93m2026-08-13 22:11:06.906507879 [W:onnxruntime:, session_state.cc:1327 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 1.63sINFOobjective_server_node[0;93m2026-08-13 22:11:06.906537609 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.662686 ms (missed cycles : 4). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.662686 ms (missed cycles : 4).[0m ×2 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.218370 ms (missed cycles : 2). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.218370 ms (missed cycles : 2).[0m ×2 + 3.31sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×2 + 3.49sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1786659068.77398801 seconds ×3 + 3.56sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.57sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.57sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.57sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.57sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.57sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.57sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.58sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.58sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.58sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.58sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.58sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.16sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1786659069.44527125 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.17sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.17sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.358435 ms (missed cycles : 3). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.358435 ms (missed cycles : 3).[0m ×2 + 4.25sINFOobjective_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 + 4.25sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.54sINFOobjective_server_nodeFound path in 0 iterations (4.44e-07 s). ×2 + 4.54sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.57sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.58sINFOros2_control_node[2026-08-13 22:11:09.863] [info] Received new action goal ×2 + 4.58sINFOros2_control_node[2026-08-13 22:11:09.863] [info] Accepted new action goal ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.193926 ms (missed cycles : 2). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.193926 ms (missed cycles : 2).[0m ×2 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.726592 ms (missed cycles : 2). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.726592 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | MPC Pose Tracking | mpc_pose_tracking.xml | 0.0s | 20 warnings · 91 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 ×3 + 0.00sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 0.00sINFOcontroller_managerDeactivating controllers: [ velocity_force_controller ] + 0.00sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 0.00sINFOros2_control_nodeDeactivating controllers: [ velocity_force_controller ][0m ×2 + 0.00sINFOcontroller_managerDeactivated controllers: [ velocity_force_controller ] + 0.00sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 0.00sINFOcontroller_managerSuccessfully switched controllers! ×4 + 0.00sINFOros2_control_nodeDeactivated controllers: [ velocity_force_controller ][0m ×2 + 0.00sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 0.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 0.10sINFOobjective_server_nodeFound path in 0 iterations (4.25e-07 s). ×2 + 0.11sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 0.13sINFOros2_control_node[2026-08-13 22:12:00.427] [info] Received new action goal ×2 + 0.13sINFOros2_control_node[2026-08-13 22:12:00.428] [info] Accepted new action goal ×2 + 0.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.753313 ms (missed cycles : 4). + 0.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.753313 ms (missed cycles : 4).[0m ×2 + 1.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.589486 ms (missed cycles : 4). + 1.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.589486 ms (missed cycles : 4).[0m ×2 + 2.55sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×2 + 2.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.089855 ms (missed cycles : 2). + 2.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.089855 ms (missed cycles : 2).[0m ×2 + 3.73sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1786659124.02939272 seconds ×3 + 3.74sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.74sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.74sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.74sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.74sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.75sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.75sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.76sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.77sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.235333 ms (missed cycles : 4). + 3.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.235333 ms (missed cycles : 4).[0m ×2 + 4.34sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1786659124.64128065 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.40sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.53sINFOobjective_server_nodeFound path in 0 iterations (4.39e-07 s). ×2 + 4.53sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.54sINFOros2_control_node[2026-08-13 22:12:04.835] [info] Received new action goal ×2 + 4.54sINFOros2_control_node[2026-08-13 22:12:04.835] [info] Accepted new action goal ×2 + 4.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.222686 ms (missed cycles : 6). + 4.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.222686 ms (missed cycles : 6).[0m ×2 + 5.80sINFOobjective_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 + 5.81sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 5.86sINFOobjective_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 + 5.86sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.86sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] + 5.86sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.86sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.86sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] + 5.86sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 5.86sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.86sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.412433 ms (missed cycles : 3). + 5.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.412433 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | MPC Pose Tracking With Point Cloud Avoidance | mpc_pose_tracking_with_point_cloud_avoidance.xml | 0.0s | 20 warnings · 2547 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×413 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×413 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×826 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×826 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.752711 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.752711 ms (missed cycles : 2).[0m ×2 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.945307 ms (missed cycles : 3). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.945307 ms (missed cycles : 3).[0m ×2 + 2.19sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.53 s); wrist_camera (1.53 s). The render path has stopped producing new frames for them.[0m ×2 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.669947 ms (missed cycles : 7). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.669947 ms (missed cycles : 7).[0m ×2 + 3.89sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1786659190.56899834 seconds ×3 + 3.90sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.90sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.90sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.90sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.91sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.91sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.91sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.91sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.91sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.91sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.91sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.92sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.92sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.92sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.93sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.93sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.869542 ms (missed cycles : 4). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.869542 ms (missed cycles : 4).[0m ×2 + 4.53sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` starting at time: 1786659191.20862293 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.54sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.54sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.61sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.61sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.61sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.61sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.61sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.61sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.61sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.61sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.61sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.71sINFOobjective_server_nodeFound path in 5 iterations (0.0065955 s). ×2 + 4.78sINFOobjective_server_nodePath shortcutter: [X______________________________X_________________________________X] ×2 + 4.79sINFOros2_control_node[2026-08-13 22:13:11.465] [info] Received new action goal ×2 + 4.79sINFOros2_control_node[2026-08-13 22:13:11.465] [info] Accepted new action goal ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.093168 ms (missed cycles : 5). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.093168 ms (missed cycles : 5).[0m ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.937579 ms (missed cycles : 3). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.937579 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Octomap Example | octomap_example.xml | 0.0s | 20 warnings · 2547 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×413 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×413 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×826 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×826 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.752711 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.752711 ms (missed cycles : 2).[0m ×2 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.945307 ms (missed cycles : 3). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.945307 ms (missed cycles : 3).[0m ×2 + 2.19sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.53 s); wrist_camera (1.53 s). The render path has stopped producing new frames for them.[0m ×2 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.669947 ms (missed cycles : 7). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.669947 ms (missed cycles : 7).[0m ×2 + 3.89sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1786659190.56899834 seconds ×3 + 3.90sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.90sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.90sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.90sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.91sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.91sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.91sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.91sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.91sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.91sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.91sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.92sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.92sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.92sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.93sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.93sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.869542 ms (missed cycles : 4). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.869542 ms (missed cycles : 4).[0m ×2 + 4.53sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` starting at time: 1786659191.20862293 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.54sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.54sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.61sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.61sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.61sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.61sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.61sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.61sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.61sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.61sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.61sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.71sINFOobjective_server_nodeFound path in 5 iterations (0.0065955 s). ×2 + 4.78sINFOobjective_server_nodePath shortcutter: [X______________________________X_________________________________X] ×2 + 4.79sINFOros2_control_node[2026-08-13 22:13:11.465] [info] Received new action goal ×2 + 4.79sINFOros2_control_node[2026-08-13 22:13:11.465] [info] Accepted new action goal ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.093168 ms (missed cycles : 5). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.093168 ms (missed cycles : 5).[0m ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.937579 ms (missed cycles : 3). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.937579 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Pick All Bottles with AprilTags | pick_all_bottles_with_apriltags.xml | 0.0s | 20 warnings · 48 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.357440 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.357440 ms (missed cycles : 5).[0m ×2 + 0.63sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.793997 ms (missed cycles : 5). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.793997 ms (missed cycles : 5).[0m ×2 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.963841 ms (missed cycles : 2). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.963841 ms (missed cycles : 2).[0m ×2 + 2.27sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.27sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.08sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` succeeded at time: 1786659220.24881601 seconds ×3 + 3.12sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.12sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.12sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.12sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.12sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.12sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.12sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.13sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.13sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.14sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.14sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.496376 ms (missed cycles : 5). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.496376 ms (missed cycles : 5).[0m ×2 + 3.76sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1786659220.93082786 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.89sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.03sINFOobjective_server_nodeFound path in 0 iterations (4.77e-07 s). ×2 + 4.03sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.05sINFOros2_control_node[2026-08-13 22:13:41.215] [info] Received new action goal ×2 + 4.05sINFOros2_control_node[2026-08-13 22:13:41.216] [info] Accepted new action goal ×2 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.713530 ms (missed cycles : 3). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.713530 ms (missed cycles : 3).[0m ×2 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.068552 ms (missed cycles : 2). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.068552 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Pick All Pill Bottles | pick_all_pill_bottles.xml | 0.0s | 20 warnings · 48 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.357440 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.357440 ms (missed cycles : 5).[0m ×2 + 0.63sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.793997 ms (missed cycles : 5). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.793997 ms (missed cycles : 5).[0m ×2 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.963841 ms (missed cycles : 2). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.963841 ms (missed cycles : 2).[0m ×2 + 2.27sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.27sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.08sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` succeeded at time: 1786659220.24881601 seconds ×3 + 3.12sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.12sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.12sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.12sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.12sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.12sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.12sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.13sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.13sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.14sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.14sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.496376 ms (missed cycles : 5). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.496376 ms (missed cycles : 5).[0m ×2 + 3.76sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1786659220.93082786 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.89sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.03sINFOobjective_server_nodeFound path in 0 iterations (4.77e-07 s). ×2 + 4.03sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.05sINFOros2_control_node[2026-08-13 22:13:41.215] [info] Received new action goal ×2 + 4.05sINFOros2_control_node[2026-08-13 22:13:41.216] [info] Accepted new action goal ×2 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.713530 ms (missed cycles : 3). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.713530 ms (missed cycles : 3).[0m ×2 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.068552 ms (missed cycles : 2). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.068552 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Pick up Object | pick_up_cube.xml | 0.0s | 3 errors · 29 warnings · 65 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.27% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.065836 ms (missed cycles : 6). + 0.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.065836 ms (missed cycles : 6).[0m ×2 + 0.90sINFOros2_control_node[2026-08-13 22:13:48.068] [info] Received new action goal ×2 + 0.90sINFOros2_control_node[2026-08-13 22:13:48.068] [info] Accepted new action goal ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.160137 ms (missed cycles : 2). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.160137 ms (missed cycles : 2).[0m ×2 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.036914 ms (missed cycles : 2). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.036914 ms (missed cycles : 2).[0m ×2 + 2.29sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.29sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.66sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×2 + 2.80sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×6 + 2.80sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.81sINFOros2_control_node[2026-08-13 22:13:49.984] [info] Received new action goal ×2 + 2.81sINFOros2_control_node[2026-08-13 22:13:49.984] [info] Accepted new action goal ×2 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.545231 ms (missed cycles : 5). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.545231 ms (missed cycles : 5).[0m ×2 + 3.84sINFOobjective_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 + 3.85sINFOros2_control_node[2026-08-13 22:13:51.021] [info] Got request to cancel active goal. ×2 + 3.85sINFOros2_control_node[2026-08-13 22:13:51.021] [info] Canceling active goal... ×2 + 3.86sERRORobjective_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: 1786659231.03533483 seconds ×3 + 3.91sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.91sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.91sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.91sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.91sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.91sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.92sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.92sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.92sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.92sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.92sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.92sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.164324 ms (missed cycles : 2). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.164324 ms (missed cycles : 2).[0m ×2 + 4.53sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1786659231.70068002 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.60sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.69sINFOobjective_server_nodeFound path in 0 iterations (9.31e-07 s). ×2 + 4.69sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.70sINFOros2_control_node[2026-08-13 22:13:51.874] [info] Received new action goal ×2 + 4.70sINFOros2_control_node[2026-08-13 22:13:51.874] [info] Accepted new action goal ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.530778 ms (missed cycles : 4). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.530778 ms (missed cycles : 4).[0m ×2 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.685965 ms (missed cycles : 6). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.685965 ms (missed cycles : 6).[0m ×2 + 6.61sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − skipped | Place at Pose Vector | place_at_pose_vector.xml | 0.0s | 3 errors · 29 warnings · 65 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.27% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.065836 ms (missed cycles : 6). + 0.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.065836 ms (missed cycles : 6).[0m ×2 + 0.90sINFOros2_control_node[2026-08-13 22:13:48.068] [info] Received new action goal ×2 + 0.90sINFOros2_control_node[2026-08-13 22:13:48.068] [info] Accepted new action goal ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.160137 ms (missed cycles : 2). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.160137 ms (missed cycles : 2).[0m ×2 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.036914 ms (missed cycles : 2). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.036914 ms (missed cycles : 2).[0m ×2 + 2.29sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.29sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.66sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×2 + 2.80sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×6 + 2.80sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.81sINFOros2_control_node[2026-08-13 22:13:49.984] [info] Received new action goal ×2 + 2.81sINFOros2_control_node[2026-08-13 22:13:49.984] [info] Accepted new action goal ×2 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.545231 ms (missed cycles : 5). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.545231 ms (missed cycles : 5).[0m ×2 + 3.84sINFOobjective_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 + 3.85sINFOros2_control_node[2026-08-13 22:13:51.021] [info] Got request to cancel active goal. ×2 + 3.85sINFOros2_control_node[2026-08-13 22:13:51.021] [info] Canceling active goal... ×2 + 3.86sERRORobjective_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: 1786659231.03533483 seconds ×3 + 3.91sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.91sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.91sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.91sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.91sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.91sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.92sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.92sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.92sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.92sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.92sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.92sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.164324 ms (missed cycles : 2). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.164324 ms (missed cycles : 2).[0m ×2 + 4.53sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1786659231.70068002 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.60sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.69sINFOobjective_server_nodeFound path in 0 iterations (9.31e-07 s). ×2 + 4.69sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.70sINFOros2_control_node[2026-08-13 22:13:51.874] [info] Received new action goal ×2 + 4.70sINFOros2_control_node[2026-08-13 22:13:51.874] [info] Accepted new action goal ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.530778 ms (missed cycles : 4). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.530778 ms (missed cycles : 4).[0m ×2 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.685965 ms (missed cycles : 6). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.685965 ms (missed cycles : 6).[0m ×2 + 6.61sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − skipped | Place at Pose with Approval | place_at_pose_with_approval.xml | 0.0s | 3 errors · 29 warnings · 65 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.27% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.065836 ms (missed cycles : 6). + 0.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.065836 ms (missed cycles : 6).[0m ×2 + 0.90sINFOros2_control_node[2026-08-13 22:13:48.068] [info] Received new action goal ×2 + 0.90sINFOros2_control_node[2026-08-13 22:13:48.068] [info] Accepted new action goal ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.160137 ms (missed cycles : 2). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.160137 ms (missed cycles : 2).[0m ×2 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.036914 ms (missed cycles : 2). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.036914 ms (missed cycles : 2).[0m ×2 + 2.29sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.29sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.66sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×2 + 2.80sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×6 + 2.80sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.81sINFOros2_control_node[2026-08-13 22:13:49.984] [info] Received new action goal ×2 + 2.81sINFOros2_control_node[2026-08-13 22:13:49.984] [info] Accepted new action goal ×2 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.545231 ms (missed cycles : 5). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.545231 ms (missed cycles : 5).[0m ×2 + 3.84sINFOobjective_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 + 3.85sINFOros2_control_node[2026-08-13 22:13:51.021] [info] Got request to cancel active goal. ×2 + 3.85sINFOros2_control_node[2026-08-13 22:13:51.021] [info] Canceling active goal... ×2 + 3.86sERRORobjective_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: 1786659231.03533483 seconds ×3 + 3.91sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.91sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.91sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.91sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.91sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.91sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.92sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.92sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.92sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.92sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.92sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.92sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.164324 ms (missed cycles : 2). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.164324 ms (missed cycles : 2).[0m ×2 + 4.53sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1786659231.70068002 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.60sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.69sINFOobjective_server_nodeFound path in 0 iterations (9.31e-07 s). ×2 + 4.69sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.70sINFOros2_control_node[2026-08-13 22:13:51.874] [info] Received new action goal ×2 + 4.70sINFOros2_control_node[2026-08-13 22:13:51.874] [info] Accepted new action goal ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.530778 ms (missed cycles : 4). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.530778 ms (missed cycles : 4).[0m ×2 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.685965 ms (missed cycles : 6). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.685965 ms (missed cycles : 6).[0m ×2 + 6.61sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − skipped | Place Object | place_object.xml | 0.0s | 3 errors · 29 warnings · 65 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.27% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.065836 ms (missed cycles : 6). + 0.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.065836 ms (missed cycles : 6).[0m ×2 + 0.90sINFOros2_control_node[2026-08-13 22:13:48.068] [info] Received new action goal ×2 + 0.90sINFOros2_control_node[2026-08-13 22:13:48.068] [info] Accepted new action goal ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.160137 ms (missed cycles : 2). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.160137 ms (missed cycles : 2).[0m ×2 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.036914 ms (missed cycles : 2). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.036914 ms (missed cycles : 2).[0m ×2 + 2.29sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.29sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.66sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×2 + 2.80sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×6 + 2.80sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.81sINFOros2_control_node[2026-08-13 22:13:49.984] [info] Received new action goal ×2 + 2.81sINFOros2_control_node[2026-08-13 22:13:49.984] [info] Accepted new action goal ×2 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.545231 ms (missed cycles : 5). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.545231 ms (missed cycles : 5).[0m ×2 + 3.84sINFOobjective_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 + 3.85sINFOros2_control_node[2026-08-13 22:13:51.021] [info] Got request to cancel active goal. ×2 + 3.85sINFOros2_control_node[2026-08-13 22:13:51.021] [info] Canceling active goal... ×2 + 3.86sERRORobjective_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: 1786659231.03533483 seconds ×3 + 3.91sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.91sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.91sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.91sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.91sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.91sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.92sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.92sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.92sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.92sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.92sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.92sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.164324 ms (missed cycles : 2). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.164324 ms (missed cycles : 2).[0m ×2 + 4.53sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1786659231.70068002 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.60sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.69sINFOobjective_server_nodeFound path in 0 iterations (9.31e-07 s). ×2 + 4.69sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.70sINFOros2_control_node[2026-08-13 22:13:51.874] [info] Received new action goal ×2 + 4.70sINFOros2_control_node[2026-08-13 22:13:51.874] [info] Accepted new action goal ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.530778 ms (missed cycles : 4). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.530778 ms (missed cycles : 4).[0m ×2 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.685965 ms (missed cycles : 6). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.685965 ms (missed cycles : 6).[0m ×2 + 6.61sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − skipped | Push Button With a Trajectory | push_button_with_a_trajectory.xml | 0.0s | 26 warnings · 45 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.429074 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.429074 ms (missed cycles : 6).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.949579 ms (missed cycles : 4). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.949579 ms (missed cycles : 4).[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.392004 ms (missed cycles : 4). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.392004 ms (missed cycles : 4).[0m ×2 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.667970 ms (missed cycles : 3). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.667970 ms (missed cycles : 3).[0m ×2 + 3.65sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1786659252.59807181 seconds ×3 + 3.66sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.66sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.66sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.66sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.66sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.66sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.67sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.67sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.68sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.68sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.68sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.68sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.675386 ms (missed cycles : 5). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.675386 ms (missed cycles : 5).[0m ×2 + 4.26sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1786659253.20444703 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.28sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.38sINFOobjective_server_nodeFound path in 0 iterations (3.11e-07 s). ×2 + 4.38sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.39sINFOros2_control_node[2026-08-13 22:14:13.338] [info] Received new action goal ×2 + 4.39sINFOros2_control_node[2026-08-13 22:14:13.338] [info] Accepted new action goal ×2 + 4.83sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.872309 ms (missed cycles : 4). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.872309 ms (missed cycles : 4).[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.689335 ms (missed cycles : 2). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.689335 ms (missed cycles : 2).[0m ×2 + 6.30sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.30sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − skipped | Scan Scene - Multiple Point Clouds | scan_scene_-_multiple_point_clouds.xml | 0.0s | 3 errors · 20 warnings · 134 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.509655 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.509655 ms (missed cycles : 5).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.502358 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.502358 ms (missed cycles : 2).[0m ×2 + 1.82sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.83sERRORobjective_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: 1786659263.52475643 seconds ×3 + 1.90sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.90sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.90sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.90sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.90sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.90sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.90sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.91sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.91sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.91sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.91sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.91sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.674758 ms (missed cycles : 3). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.674758 ms (missed cycles : 3).[0m ×2 + 2.49sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1786659264.18153048 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.52sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.52sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.54sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.54sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.57sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1786659264.26166320 seconds ×3 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.383496 ms (missed cycles : 4). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.383496 ms (missed cycles : 4).[0m ×2 + 3.16sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1786659264.85963655 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.19sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 3.19sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1786659264.88173199 seconds ×3 + 3.90sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1786659265.59605384 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.91sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.04sINFOobjective_server_nodeFound path in 0 iterations (5.15e-07 s). ×2 + 4.04sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.05sINFOros2_control_node[2026-08-13 22:14:25.739] [info] Received new action goal ×2 + 4.05sINFOros2_control_node[2026-08-13 22:14:25.739] [info] Accepted new action goal ×2 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.418047 ms (missed cycles : 4). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.418047 ms (missed cycles : 4).[0m ×2 + 4.17sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 5.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.838287 ms (missed cycles : 2). + 5.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.838287 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Segment Bottle Subtree | segment_bottle_subtree.xml | 0.0s | 3 errors · 20 warnings · 134 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.509655 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.509655 ms (missed cycles : 5).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.502358 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.502358 ms (missed cycles : 2).[0m ×2 + 1.82sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.83sERRORobjective_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: 1786659263.52475643 seconds ×3 + 1.90sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.90sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.90sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.90sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.90sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.90sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.90sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.91sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.91sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.91sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.91sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.91sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.674758 ms (missed cycles : 3). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.674758 ms (missed cycles : 3).[0m ×2 + 2.49sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1786659264.18153048 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.52sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.52sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.54sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.54sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.57sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1786659264.26166320 seconds ×3 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.383496 ms (missed cycles : 4). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.383496 ms (missed cycles : 4).[0m ×2 + 3.16sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1786659264.85963655 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.19sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 3.19sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1786659264.88173199 seconds ×3 + 3.90sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1786659265.59605384 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.91sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.04sINFOobjective_server_nodeFound path in 0 iterations (5.15e-07 s). ×2 + 4.04sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.05sINFOros2_control_node[2026-08-13 22:14:25.739] [info] Received new action goal ×2 + 4.05sINFOros2_control_node[2026-08-13 22:14:25.739] [info] Accepted new action goal ×2 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.418047 ms (missed cycles : 4). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.418047 ms (missed cycles : 4).[0m ×2 + 4.17sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 5.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.838287 ms (missed cycles : 2). + 5.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.838287 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Select Region for Coverage Path | select_region_for_coverage_path.xml | 0.0s | 3 errors · 20 warnings · 134 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.509655 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.509655 ms (missed cycles : 5).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.502358 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.502358 ms (missed cycles : 2).[0m ×2 + 1.82sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.83sERRORobjective_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: 1786659263.52475643 seconds ×3 + 1.90sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.90sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.90sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.90sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.90sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.90sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.90sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.91sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.91sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.91sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.91sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.91sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.674758 ms (missed cycles : 3). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.674758 ms (missed cycles : 3).[0m ×2 + 2.49sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1786659264.18153048 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.52sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.52sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.54sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.54sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.57sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1786659264.26166320 seconds ×3 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.383496 ms (missed cycles : 4). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.383496 ms (missed cycles : 4).[0m ×2 + 3.16sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1786659264.85963655 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.19sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 3.19sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1786659264.88173199 seconds ×3 + 3.90sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1786659265.59605384 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.91sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.04sINFOobjective_server_nodeFound path in 0 iterations (5.15e-07 s). ×2 + 4.04sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.05sINFOros2_control_node[2026-08-13 22:14:25.739] [info] Received new action goal ×2 + 4.05sINFOros2_control_node[2026-08-13 22:14:25.739] [info] Accepted new action goal ×2 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.418047 ms (missed cycles : 4). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.418047 ms (missed cycles : 4).[0m ×2 + 4.17sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 5.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.838287 ms (missed cycles : 2). + 5.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.838287 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Stitch Multiple Point Clouds Together | stitch_multiple_point_clouds_together.xml | 0.0s | 3 errors · 25 warnings · 100 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×4 + 0.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.055788 ms (missed cycles : 6). + 0.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.055788 ms (missed cycles : 6).[0m ×2 + 1.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.790282 ms (missed cycles : 2). + 1.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.790282 ms (missed cycles : 2).[0m ×2 + 2.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.500006 ms (missed cycles : 5). + 2.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.500006 ms (missed cycles : 5).[0m ×2 + 3.42sINFOobjective_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 + 3.43sINFOros2_control_node[2026-08-13 22:14:36.026] [info] Got request to cancel active goal. ×2 + 3.43sINFOros2_control_node[2026-08-13 22:14:36.026] [info] Canceling active goal... ×2 + 3.43sERRORobjective_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: 1786659276.03077412 seconds ×3 + 3.44sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 3.44sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 3.44sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.44sINFOcontroller_managerSuccessfully switched controllers! ×6 + 3.44sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.44sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 3.45sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 3.45sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.45sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 3.45sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 3.46sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 3.46sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 3.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.878871 ms (missed cycles : 3). + 3.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.878871 ms (missed cycles : 3).[0m ×2 + 4.03sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1786659276.62529993 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.727068 ms (missed cycles : 3). + 4.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.727068 ms (missed cycles : 3).[0m ×2 + 5.37sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1786659277.96542549 seconds ×3 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.694793 ms (missed cycles : 2). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.694793 ms (missed cycles : 2).[0m ×2 + 5.96sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1786659278.55894351 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.96sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 5.96sINFOobjective_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 + 5.96sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 5.96sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1786659278.56131363 seconds ×3 | ||||
| − skipped | Take Wrist Camera Image | take_picture_with_wrist_camera.xml | 0.0s | 3 errors · 25 warnings · 100 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×4 + 0.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.055788 ms (missed cycles : 6). + 0.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.055788 ms (missed cycles : 6).[0m ×2 + 1.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.790282 ms (missed cycles : 2). + 1.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.790282 ms (missed cycles : 2).[0m ×2 + 2.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.500006 ms (missed cycles : 5). + 2.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.500006 ms (missed cycles : 5).[0m ×2 + 3.42sINFOobjective_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 + 3.43sINFOros2_control_node[2026-08-13 22:14:36.026] [info] Got request to cancel active goal. ×2 + 3.43sINFOros2_control_node[2026-08-13 22:14:36.026] [info] Canceling active goal... ×2 + 3.43sERRORobjective_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: 1786659276.03077412 seconds ×3 + 3.44sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 3.44sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 3.44sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.44sINFOcontroller_managerSuccessfully switched controllers! ×6 + 3.44sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.44sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 3.45sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 3.45sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.45sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 3.45sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 3.46sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 3.46sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 3.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.878871 ms (missed cycles : 3). + 3.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.878871 ms (missed cycles : 3).[0m ×2 + 4.03sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1786659276.62529993 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.727068 ms (missed cycles : 3). + 4.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.727068 ms (missed cycles : 3).[0m ×2 + 5.37sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1786659277.96542549 seconds ×3 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.694793 ms (missed cycles : 2). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.694793 ms (missed cycles : 2).[0m ×2 + 5.96sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1786659278.55894351 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.96sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 5.96sINFOobjective_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 + 5.96sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 5.96sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1786659278.56131363 seconds ×3 | ||||
▾
/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/picknik_ur_base_config/share/picknik_ur_base_config/objectives7 skip
| − skipped | — | create_point_cloud_vector_from_masks.xml | 0.0s | 22 warnings · 219 info |
+ 0.00sINFOros2-4process has finished cleanly [pid 8991] ×2 + 0.08sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786658980.27589941 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 + 0.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.381597 ms (missed cycles : 3). + 0.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.381597 ms (missed cycles : 3).[0m ×2 + 0.98sWARNros2_control_nodeCamera render tick took 1.83 s (budget 0.100 s, EGL vendor 'Mesa Project'). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.14sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786658981.33603382 seconds ×3 + 1.18sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.18sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.18sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.18sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.18sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.18sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.19sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.19sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.19sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.19sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.19sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.19sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.183569 ms (missed cycles : 2). + 1.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.183569 ms (missed cycles : 2).[0m ×2 + 1.76sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786658981.95932627 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.82sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786658982.01949716 seconds ×3 + 2.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.648168 ms (missed cycles : 4). + 2.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.648168 ms (missed cycles : 4).[0m ×2 + 2.48sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786658982.67854762 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.50sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786658982.69866109 seconds ×3 + 3.22sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786658983.41888142 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.37sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786658983.56966352 seconds ×3 + 3.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.556631 ms (missed cycles : 2). + 3.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.556631 ms (missed cycles : 2).[0m ×2 + 3.51sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 4.06sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786658984.25855422 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.08sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.08sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.10sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786658984.30869198 seconds ×3 + 4.71sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786658984.91084266 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.728162 ms (missed cycles : 2). + 4.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.728162 ms (missed cycles : 2).[0m ×2 + 4.72sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.73sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.73sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.73sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.83sINFOobjective_server_nodeFound path in 0 iterations (8.5289e-05 s). ×2 + 4.84sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.85sINFOros2_control_node[2026-08-13 22:09:45.047] [info] Received new action goal ×2 + 4.85sINFOros2_control_node[2026-08-13 22:09:45.047] [info] Accepted new action goal ×2 + 5.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.978946 ms (missed cycles : 2). + 5.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.978946 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | segment_image_from_no_negative_text_prompt_subtree.xml | 0.0s | 22 warnings · 219 info |
+ 0.00sINFOros2-4process has finished cleanly [pid 8991] ×2 + 0.08sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786658980.27589941 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 + 0.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.381597 ms (missed cycles : 3). + 0.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.381597 ms (missed cycles : 3).[0m ×2 + 0.98sWARNros2_control_nodeCamera render tick took 1.83 s (budget 0.100 s, EGL vendor 'Mesa Project'). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.14sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786658981.33603382 seconds ×3 + 1.18sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.18sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.18sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.18sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.18sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.18sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.19sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.19sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.19sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.19sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.19sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.19sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.183569 ms (missed cycles : 2). + 1.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.183569 ms (missed cycles : 2).[0m ×2 + 1.76sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786658981.95932627 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.82sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786658982.01949716 seconds ×3 + 2.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.648168 ms (missed cycles : 4). + 2.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.648168 ms (missed cycles : 4).[0m ×2 + 2.48sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786658982.67854762 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.50sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786658982.69866109 seconds ×3 + 3.22sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786658983.41888142 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.37sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786658983.56966352 seconds ×3 + 3.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.556631 ms (missed cycles : 2). + 3.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.556631 ms (missed cycles : 2).[0m ×2 + 3.51sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 4.06sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786658984.25855422 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.08sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.08sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.10sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786658984.30869198 seconds ×3 + 4.71sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786658984.91084266 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.728162 ms (missed cycles : 2). + 4.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.728162 ms (missed cycles : 2).[0m ×2 + 4.72sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.73sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.73sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.73sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.83sINFOobjective_server_nodeFound path in 0 iterations (8.5289e-05 s). ×2 + 4.84sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.85sINFOros2_control_node[2026-08-13 22:09:45.047] [info] Received new action goal ×2 + 4.85sINFOros2_control_node[2026-08-13 22:09:45.047] [info] Accepted new action goal ×2 + 5.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.978946 ms (missed cycles : 2). + 5.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.978946 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | segment_image_from_point_subtree.xml | 0.0s | 22 warnings · 219 info |
+ 0.00sINFOros2-4process has finished cleanly [pid 8991] ×2 + 0.08sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786658980.27589941 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 + 0.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.381597 ms (missed cycles : 3). + 0.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.381597 ms (missed cycles : 3).[0m ×2 + 0.98sWARNros2_control_nodeCamera render tick took 1.83 s (budget 0.100 s, EGL vendor 'Mesa Project'). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.14sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786658981.33603382 seconds ×3 + 1.18sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.18sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.18sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.18sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.18sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.18sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.19sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.19sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.19sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.19sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.19sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.19sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.183569 ms (missed cycles : 2). + 1.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.183569 ms (missed cycles : 2).[0m ×2 + 1.76sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786658981.95932627 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.82sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786658982.01949716 seconds ×3 + 2.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.648168 ms (missed cycles : 4). + 2.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.648168 ms (missed cycles : 4).[0m ×2 + 2.48sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786658982.67854762 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.50sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786658982.69866109 seconds ×3 + 3.22sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786658983.41888142 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.37sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786658983.56966352 seconds ×3 + 3.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.556631 ms (missed cycles : 2). + 3.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.556631 ms (missed cycles : 2).[0m ×2 + 3.51sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 4.06sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786658984.25855422 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.08sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.08sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.10sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786658984.30869198 seconds ×3 + 4.71sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786658984.91084266 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.728162 ms (missed cycles : 2). + 4.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.728162 ms (missed cycles : 2).[0m ×2 + 4.72sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.73sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.73sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.73sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.83sINFOobjective_server_nodeFound path in 0 iterations (8.5289e-05 s). ×2 + 4.84sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.85sINFOros2_control_node[2026-08-13 22:09:45.047] [info] Received new action goal ×2 + 4.85sINFOros2_control_node[2026-08-13 22:09:45.047] [info] Accepted new action goal ×2 + 5.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.978946 ms (missed cycles : 2). + 5.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.978946 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | segment_image_from_text_prompt_subtree.xml | 0.0s | 22 warnings · 219 info |
+ 0.00sINFOros2-4process has finished cleanly [pid 8991] ×2 + 0.08sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786658980.27589941 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 + 0.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.381597 ms (missed cycles : 3). + 0.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.381597 ms (missed cycles : 3).[0m ×2 + 0.98sWARNros2_control_nodeCamera render tick took 1.83 s (budget 0.100 s, EGL vendor 'Mesa Project'). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.14sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786658981.33603382 seconds ×3 + 1.18sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.18sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.18sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.18sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.18sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.18sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.19sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.19sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.19sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.19sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.19sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.19sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.183569 ms (missed cycles : 2). + 1.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.183569 ms (missed cycles : 2).[0m ×2 + 1.76sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786658981.95932627 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.82sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786658982.01949716 seconds ×3 + 2.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.648168 ms (missed cycles : 4). + 2.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.648168 ms (missed cycles : 4).[0m ×2 + 2.48sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786658982.67854762 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.50sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786658982.69866109 seconds ×3 + 3.22sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786658983.41888142 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.37sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786658983.56966352 seconds ×3 + 3.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.556631 ms (missed cycles : 2). + 3.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.556631 ms (missed cycles : 2).[0m ×2 + 3.51sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 4.06sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786658984.25855422 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.08sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.08sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.10sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786658984.30869198 seconds ×3 + 4.71sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786658984.91084266 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.728162 ms (missed cycles : 2). + 4.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.728162 ms (missed cycles : 2).[0m ×2 + 4.72sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.73sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.73sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.73sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.83sINFOobjective_server_nodeFound path in 0 iterations (8.5289e-05 s). ×2 + 4.84sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.85sINFOros2_control_node[2026-08-13 22:09:45.047] [info] Received new action goal ×2 + 4.85sINFOros2_control_node[2026-08-13 22:09:45.047] [info] Accepted new action goal ×2 + 5.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.978946 ms (missed cycles : 2). + 5.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.978946 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | segment_point_cloud_from_clicked_point_subtree.xml | 0.0s | 22 warnings · 219 info |
+ 0.00sINFOros2-4process has finished cleanly [pid 8991] ×2 + 0.08sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786658980.27589941 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 + 0.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.381597 ms (missed cycles : 3). + 0.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.381597 ms (missed cycles : 3).[0m ×2 + 0.98sWARNros2_control_nodeCamera render tick took 1.83 s (budget 0.100 s, EGL vendor 'Mesa Project'). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.14sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786658981.33603382 seconds ×3 + 1.18sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.18sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.18sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.18sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.18sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.18sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.19sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.19sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.19sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.19sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.19sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.19sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.183569 ms (missed cycles : 2). + 1.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.183569 ms (missed cycles : 2).[0m ×2 + 1.76sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786658981.95932627 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.82sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786658982.01949716 seconds ×3 + 2.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.648168 ms (missed cycles : 4). + 2.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.648168 ms (missed cycles : 4).[0m ×2 + 2.48sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786658982.67854762 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.50sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786658982.69866109 seconds ×3 + 3.22sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786658983.41888142 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.37sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786658983.56966352 seconds ×3 + 3.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.556631 ms (missed cycles : 2). + 3.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.556631 ms (missed cycles : 2).[0m ×2 + 3.51sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 4.06sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786658984.25855422 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.08sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.08sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.10sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786658984.30869198 seconds ×3 + 4.71sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786658984.91084266 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.728162 ms (missed cycles : 2). + 4.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.728162 ms (missed cycles : 2).[0m ×2 + 4.72sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.73sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.73sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.73sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.83sINFOobjective_server_nodeFound path in 0 iterations (8.5289e-05 s). ×2 + 4.84sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.85sINFOros2_control_node[2026-08-13 22:09:45.047] [info] Received new action goal ×2 + 4.85sINFOros2_control_node[2026-08-13 22:09:45.047] [info] Accepted new action goal ×2 + 5.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.978946 ms (missed cycles : 2). + 5.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.978946 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | segment_point_cloud_from_text_prompt_subtree.xml | 0.0s | 22 warnings · 219 info |
+ 0.00sINFOros2-4process has finished cleanly [pid 8991] ×2 + 0.08sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786658980.27589941 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 + 0.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.381597 ms (missed cycles : 3). + 0.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.381597 ms (missed cycles : 3).[0m ×2 + 0.98sWARNros2_control_nodeCamera render tick took 1.83 s (budget 0.100 s, EGL vendor 'Mesa Project'). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.14sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786658981.33603382 seconds ×3 + 1.18sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.18sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.18sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.18sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.18sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.18sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.19sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.19sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.19sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.19sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.19sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.19sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.183569 ms (missed cycles : 2). + 1.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.183569 ms (missed cycles : 2).[0m ×2 + 1.76sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786658981.95932627 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.82sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786658982.01949716 seconds ×3 + 2.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.648168 ms (missed cycles : 4). + 2.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.648168 ms (missed cycles : 4).[0m ×2 + 2.48sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786658982.67854762 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.50sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786658982.69866109 seconds ×3 + 3.22sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786658983.41888142 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.37sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786658983.56966352 seconds ×3 + 3.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.556631 ms (missed cycles : 2). + 3.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.556631 ms (missed cycles : 2).[0m ×2 + 3.51sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 4.06sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786658984.25855422 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.08sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.08sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.10sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786658984.30869198 seconds ×3 + 4.71sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786658984.91084266 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.728162 ms (missed cycles : 2). + 4.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.728162 ms (missed cycles : 2).[0m ×2 + 4.72sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.73sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.73sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.73sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.83sINFOobjective_server_nodeFound path in 0 iterations (8.5289e-05 s). ×2 + 4.84sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.85sINFOros2_control_node[2026-08-13 22:09:45.047] [info] Received new action goal ×2 + 4.85sINFOros2_control_node[2026-08-13 22:09:45.047] [info] Accepted new action goal ×2 + 5.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.978946 ms (missed cycles : 2). + 5.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.978946 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | visualize_segmented_point_cloud.xml | 0.0s | 22 warnings · 219 info |
+ 0.00sINFOros2-4process has finished cleanly [pid 8991] ×2 + 0.08sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786658980.27589941 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 + 0.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.381597 ms (missed cycles : 3). + 0.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.381597 ms (missed cycles : 3).[0m ×2 + 0.98sWARNros2_control_nodeCamera render tick took 1.83 s (budget 0.100 s, EGL vendor 'Mesa Project'). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.14sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786658981.33603382 seconds ×3 + 1.18sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.18sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.18sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.18sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.18sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.18sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.19sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.19sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.19sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.19sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.19sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.19sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.183569 ms (missed cycles : 2). + 1.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.183569 ms (missed cycles : 2).[0m ×2 + 1.76sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786658981.95932627 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.82sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786658982.01949716 seconds ×3 + 2.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.648168 ms (missed cycles : 4). + 2.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.648168 ms (missed cycles : 4).[0m ×2 + 2.48sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786658982.67854762 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.50sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786658982.69866109 seconds ×3 + 3.22sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786658983.41888142 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.37sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786658983.56966352 seconds ×3 + 3.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.556631 ms (missed cycles : 2). + 3.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.556631 ms (missed cycles : 2).[0m ×2 + 3.51sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 4.06sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786658984.25855422 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.08sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.08sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.10sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786658984.30869198 seconds ×3 + 4.71sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786658984.91084266 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.728162 ms (missed cycles : 2). + 4.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.728162 ms (missed cycles : 2).[0m ×2 + 4.72sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.73sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.73sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.73sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.83sINFOobjective_server_nodeFound path in 0 iterations (8.5289e-05 s). ×2 + 4.84sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.85sINFOros2_control_node[2026-08-13 22:09:45.047] [info] Received new action goal ×2 + 4.85sINFOros2_control_node[2026-08-13 22:09:45.047] [info] Accepted new action goal ×2 + 5.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.978946 ms (missed cycles : 2). + 5.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.978946 ms (missed cycles : 2).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/core3 pass8 skip
| ✓ passed | — | clear_snapshot.xml | 8.9s | 33 warnings · 585 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/2026-08-13-22-09-30-847556-8d9ffa43d14f-8940 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 1.81sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 1.83sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 1.83sINFOcontroller_managerupdate rate is 600 Hz + 1.83sINFOcontroller_managerOverruns handling is : enabled + 1.83sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 1.83sWARNcontroller_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. + 1.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.499157 ms (missed cycles : 3). + 2.03sINFOros2_control_node-1process started with pid [8988] ×2 + 2.03sINFOmove_group-9process started with pid [9025] ×2 + 2.03sINFOparameter_manager_node-10process started with pid [9026] ×2 + 2.03sINFOwaypoint_manager_node-11process started with pid [9027] ×2 + 2.03sINFOmove_joint_resampler_node-12process started with pid [9028] ×2 + 2.03sINFOmove_end_effector_resampler_node-13process started with pid [9029] ×2 + 2.04sINFOobjective_server_node_main-14process started with pid [9030] ×2 + 2.04sINFOcomponent_container_mt-15process started with pid [9031] ×2 + 2.04sINFOcomponent_container_mt-16process started with pid [9032] ×2 + 2.04sINFOexecute_objective_bridge-17process started with pid [9033] ×2 + 2.04sINFOui_teleop_bridge-18process started with pid [9034] ×2 + 2.04sINFOweb_bridge-19process started with pid [9035] ×2 + 2.04sINFOtf2_web_republisher_node-20process started with pid [9099] ×2 + 2.04sINFOvideo_server-21process started with pid [9100] ×2 + 2.04sINFOweb_bridge_auth_proxy-22process started with pid [9101] ×2 + 2.04sINFOweb_video_auth_proxy-23process started with pid [9102] ×2 + 2.06sINFOros2-2process started with pid [8989] ×2 + 2.06sINFOros2-3process started with pid [8990] ×2 + 2.06sINFOros2-4process started with pid [8991] ×2 + 2.06sINFOros2-5process started with pid [8992] ×2 + 2.06sINFOros2-6process started with pid [8993] ×2 + 2.06sINFOros2-7process started with pid [8994] ×2 + 2.06sINFOros2-8process started with pid [8995] ×2 + 2.08sINFOcontroller_managerReceived robot description from topic. + 2.08sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 2.10sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 2.12sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 2.12sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 2.12sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 2.12sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 2.12sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 2.12sWARNros2_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 + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.499157 ms (missed cycles : 3).[0m ×2 + 2.13sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 2.13sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 2.13sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 2.13sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 2.20sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 2.25sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 2.44sINFOvideo_server2026/08/13 22:09:34 INF MediaMTX v1.19.3, linux, amd64 ×2 + 2.44sINFOvideo_server2026/08/13 22:09:34 INF configuration loaded from /tmp/moveit-webrtc-vyzb7243/mediamtx.yml ×2 + 2.44sINFOvideo_server2026/08/13 22:09:34 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 + 2.44sINFOvideo_server2026/08/13 22:09:34 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 + 3.10sINFOmove_group[2026-08-13 22:09:34.688] [moveit_pro_license] [info] ×2 + 3.10sINFOmove_group************************************************* ×4 + 3.10sINFOmove_group* MoveIt Pro License ×2 + 3.10sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.721137 ms (missed cycles : 2). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.721137 ms (missed cycles : 2).[0m ×2 + 3.28sINFOwaypoint_manager_node[2026-08-13 22:09:34.874] [moveit_pro_license] [info] ×2 + 3.28sINFOwaypoint_manager_node************************************************* ×4 + 3.28sINFOwaypoint_manager_node* MoveIt Pro License ×2 + 3.28sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 3.43sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 3.44sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 3.49sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 3.49sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 3.49sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 3.49sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 3.51sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 3.51sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 3.52sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 3.52sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 3.52sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 3.53sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 3.54sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 3.63sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 3.73sINFOmove_group ×4 + 3.73sINFOmove_group[92mYou can start planning now![0m ×2 + 3.80sINFOspawner_force_torque_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 3.80sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 4.72sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 4.78sINFOobjective_server_node[2026-08-13 22:09:36.381] [moveit_pro_license] [info] ×2 + 4.78sINFOobjective_server_node************************************************* ×4 + 4.78sINFOobjective_server_node* MoveIt Pro License ×2 + 4.78sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 4.89sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 4.90sINFOobjective_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 + 4.90sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 4.92sINFOobjective_server_nodeLoading 7 behavior loader plugin(s): ×2 + 4.92sINFOobjective_server_nodemoveit_pro::behaviors::MPCBehaviorsLoader ×2 + 4.92sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 4.92sINFOobjective_server_nodelab_sim_behaviors::LabSimBehaviorsLoader ×2 + 4.92sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 4.92sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 4.92sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 4.92sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 5.08sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 5.29sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 5.29sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 5.51sINFOcomponent_container_mt[2026-08-13 22:09:37.114] [moveit_pro_license] [info] ×2 + 5.51sINFOcomponent_container_mt************************************************* ×4 + 5.51sINFOcomponent_container_mt* MoveIt Pro License ×2 + 5.51sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 5.54sWARNros2_control_nodeNo keyframe specified, applying first keyframe to set initial state.[0m ×2 + 5.54sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 5.54sINFOros2_control_nodeResolved base link to MuJoCo body `world` (id 0) via URDF chain walk.[0m ×2 + 5.54sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 5.54sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 5.54sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 5.54sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 5.54sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 5.54sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 5.54sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 5.54sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 5.54sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 5.54sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 5.54sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 5.55sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 5.55sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 5.55sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 5.55sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 5.56sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_4ald5cnv --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_5ykz7a6v --params-file /tmp/launch_params___3qp74y + 5.56sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_4ald5cnv --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_5ykz7a6v --params-file /tmp/launch_params___3qp74y [0m ×2 + 5.57sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 5.58sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 5.58sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 5.58sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 5.58sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 5.58sINFOforce_torque_sensor_broadcasterconfigure successful + 5.58sINFOros2_control_nodeconfigure successful[0m ×2 + 5.59sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 5.59sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 5.59sINFOcontroller_managerSuccessfully switched controllers! ×14 + 5.59sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 5.59sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 5.59sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 5.73sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 5.90sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 5.90sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 5.90sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 5.90sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 5.91sINFOros2-2process has finished cleanly [pid 8989] ×2 + 6.00sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4ald5cnv --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_5ykz7a6v --params-file /tmp/launch_params___3qp74y + 6.00sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4ald5cnv --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_5ykz7a6v --params-file /tmp/launch_params___3qp74y [0m ×2 + 6.08sINFOros2_control_nodeMuJoCo offscreen rendering bound to EGL vendor 'Mesa Project' (1.5).[0m ×2 + 6.10sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 6.10sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 6.11sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 6.11sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 6.11sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 6.13sINFOros2_control_node[2026-08-13 22:09:37.733] [info] Controller state will be published at 20 Hz. ×2 + 6.14sINFOros2_control_node[2026-08-13 22:09:37.734] [info] JointVelocityController 'on_configure' succeeded. ×2 + 6.45sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 6.45sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 6.45sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 6.45sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 6.46sINFOros2-8process has finished cleanly [pid 8995] ×2 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.418068 ms (missed cycles : 2). + 6.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.418068 ms (missed cycles : 2).[0m ×2 + 6.54sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_4ald5cnv --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_5ykz7a6v --params-file /tmp/launch_params___3qp74y + 6.54sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_4ald5cnv --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_5ykz7a6v --params-file /tmp/launch_params___3qp74y [0m ×2 + 6.58sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 6.58sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 6.59sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 6.59sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 6.59sINFOros2_control_node[2026-08-13 22:09:38.185] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 6.59sINFOros2_control_node[2026-08-13 22:09:38.185] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 6.61sINFOros2_control_node[2026-08-13 22:09:38.212] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 6.61sINFOros2_control_node[2026-08-13 22:09:38.212] [info] Controller state will be published at 50 Hz. ×2 + 6.62sINFOros2_control_node[2026-08-13 22:09:38.221] [info] Registered `FollowJointTrajectory` action server. ×2 + 6.95sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 6.95sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 6.95sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 6.95sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 6.96sINFOros2-6process has finished cleanly [pid 8993] ×2 + 6.96sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_4ald5cnv --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_5ykz7a6v --params-file /tmp/launch_params___3qp74y + 6.96sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_4ald5cnv --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_5ykz7a6v --params-file /tmp/launch_params___3qp74y [0m ×2 + 7.02sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 7.03sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 7.03sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 7.03sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 7.03sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 7.03sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 7.03sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 7.03sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 7.03sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 7.03sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 7.03sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 7.04sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 7.04sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 7.04sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 7.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] ×2 + 7.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×4 + 7.04sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 7.04sWARNobjective_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 + 7.05sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 7.11sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 7.15sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 7.15sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 7.15sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 7.15sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 7.15sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 7.15sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 7.18sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×10 + 7.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×10 + 7.18sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 7.18sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 7.35sINFOros2-5process has finished cleanly [pid 8992] ×2 + 7.36sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 7.36sINFOcontroller_managerLoading controller 'velocity_force_controller' + 7.36sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 7.36sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 7.42sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_4ald5cnv --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_5ykz7a6v --params-file /tmp/launch_params___3qp74y + 7.42sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_4ald5cnv --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_5ykz7a6v --params-file /tmp/launch_params___3qp74y [0m ×2 + 7.47sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 7.47sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 7.47sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 7.47sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 7.51sINFOros2_control_node[2026-08-13 22:09:39.107] [info] Controller state will be published at 10 Hz. ×2 + 7.51sINFOros2_control_node[2026-08-13 22:09:39.108] [info] VelocityForceController 'on_configure' succeeded. ×2 + 7.63sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 7.84sINFOros2-7process has finished cleanly [pid 8994] ×2 + 7.86sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 7.86sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 7.86sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 7.86sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 7.86sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_4ald5cnv --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_5ykz7a6v --params-file /tmp/launch_params___3qp74y + 7.86sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_4ald5cnv --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_5ykz7a6v --params-file /tmp/launch_params___3qp74y [0m ×2 + 7.87sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 7.87sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 7.91sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 7.91sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 7.91sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 7.91sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 7.91sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 7.91sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 7.91sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 7.91sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 7.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.563918 ms (missed cycles : 3). + 7.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.563918 ms (missed cycles : 3).[0m ×2 + 7.92sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 7.92sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 8.08sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786658979.67968941 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 8.09sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786658979.68986797 seconds ×3 + 8.10sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×4 + 8.10sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×8 + 8.11sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×4 + 8.11sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×8 + 8.11sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×4 + 8.11sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×8 + 8.21sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 8.21sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 8.21sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 8.21sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 8.22sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_4ald5cnv --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_5ykz7a6v --params-file /tmp/launch_params___3qp74y + 8.22sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_4ald5cnv --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_5ykz7a6v --params-file /tmp/launch_params___3qp74y [0m ×2 + 8.24sINFOros2-3process has finished cleanly [pid 8990] ×2 + 8.26sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 8.26sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 8.27sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 8.27sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 8.27sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 8.27sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 8.27sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 8.27sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 8.28sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 8.28sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 8.60sINFOros2-4process has finished cleanly [pid 8991] ×2 + 8.68sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786658980.27589941 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 8.68sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 8.68sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 8.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.381597 ms (missed cycles : 3). + 8.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.381597 ms (missed cycles : 3).[0m ×2 + 9.58sWARNros2_control_nodeCamera render tick took 1.83 s (budget 0.100 s, EGL vendor 'Mesa Project'). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 9.74sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786658981.33603382 seconds ×3 + 9.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.183569 ms (missed cycles : 2). + 9.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.183569 ms (missed cycles : 2).[0m ×2 + 10.36sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786658981.95932627 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 10.42sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786658982.01949716 seconds ×3 + 11.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.648168 ms (missed cycles : 4). + 11.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.648168 ms (missed cycles : 4).[0m ×2 + 11.08sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786658982.67854762 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 11.10sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786658982.69866109 seconds ×3 | ||||
| ✓ passed | — | vector_subtrees_example.xml | 0.8s | 28 warnings · 310 info |
+ 0.00sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.21sINFOros2-7process has finished cleanly [pid 8994] ×2 + 0.23sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 0.23sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 0.23sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 0.23sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 0.23sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_4ald5cnv --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_5ykz7a6v --params-file /tmp/launch_params___3qp74y + 0.24sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_4ald5cnv --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_5ykz7a6v --params-file /tmp/launch_params___3qp74y [0m ×2 + 0.24sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.24sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.28sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 0.28sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 0.28sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 0.28sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 0.28sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 0.28sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.28sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 0.28sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.29sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.563918 ms (missed cycles : 3). + 0.29sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 0.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.563918 ms (missed cycles : 3).[0m ×2 + 0.29sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 0.29sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 0.45sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786658979.67968941 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.46sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786658979.68986797 seconds ×3 + 0.47sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 0.47sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.47sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 0.47sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.48sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.48sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.48sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 0.48sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 0.48sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 0.48sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 0.58sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.58sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.58sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.58sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.59sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_4ald5cnv --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_5ykz7a6v --params-file /tmp/launch_params___3qp74y + 0.59sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_4ald5cnv --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_5ykz7a6v --params-file /tmp/launch_params___3qp74y [0m ×2 + 0.61sINFOros2-3process has finished cleanly [pid 8990] ×2 + 0.63sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.63sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.64sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.64sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.64sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.64sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.64sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.65sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.65sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.65sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 0.97sINFOros2-4process has finished cleanly [pid 8991] ×2 + 1.05sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786658980.27589941 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.05sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.05sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.381597 ms (missed cycles : 3). + 1.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.381597 ms (missed cycles : 3).[0m ×2 + 1.95sWARNros2_control_nodeCamera render tick took 1.83 s (budget 0.100 s, EGL vendor 'Mesa Project'). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.11sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786658981.33603382 seconds ×3 + 2.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.183569 ms (missed cycles : 2). + 2.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.183569 ms (missed cycles : 2).[0m ×2 + 2.73sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786658981.95932627 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.79sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786658982.01949716 seconds ×3 + 3.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.648168 ms (missed cycles : 4). + 3.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.648168 ms (missed cycles : 4).[0m ×2 + 3.45sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786658982.67854762 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.47sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786658982.69866109 seconds ×3 + 4.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786658983.41888142 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786658983.56966352 seconds ×3 + 4.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.556631 ms (missed cycles : 2). + 4.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.556631 ms (missed cycles : 2).[0m ×2 + 4.48sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 5.03sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786658984.25855422 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.04sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 5.04sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 5.07sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.07sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.07sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786658984.30869198 seconds ×3 + 5.68sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786658984.91084266 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.728162 ms (missed cycles : 2). + 5.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.728162 ms (missed cycles : 2).[0m ×2 + 5.69sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 5.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.69sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.70sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.70sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.70sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.70sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.70sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.70sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.80sINFOobjective_server_nodeFound path in 0 iterations (8.5289e-05 s). ×2 + 5.80sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.82sINFOros2_control_node[2026-08-13 22:09:45.047] [info] Received new action goal ×2 + 5.82sINFOros2_control_node[2026-08-13 22:09:45.047] [info] Accepted new action goal ×2 + 6.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.978946 ms (missed cycles : 2). + 6.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.978946 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | — | reset_planning_scene.xml | 0.7s | 30 warnings · 404 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.00sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.00sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.00sINFOros2-6process has finished cleanly [pid 8993] ×2 + 0.01sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_4ald5cnv --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_5ykz7a6v --params-file /tmp/launch_params___3qp74y + 0.01sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_4ald5cnv --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_5ykz7a6v --params-file /tmp/launch_params___3qp74y [0m ×2 + 0.07sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.07sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.08sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.08sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.08sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.08sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.08sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.08sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.08sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.08sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.08sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.08sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.08sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.08sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] ×2 + 0.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×4 + 0.09sINFOcontroller_managerSuccessfully switched controllers! ×20 + 0.09sINFOros2_control_nodeSuccessfully switched controllers![0m ×40 + 0.09sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.09sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×2 + 0.09sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.16sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.20sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] ×2 + 0.20sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.20sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×4 + 0.20sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.20sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.23sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 0.23sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 0.40sINFOros2-5process has finished cleanly [pid 8992] ×2 + 0.41sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.41sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.41sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.41sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.47sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_4ald5cnv --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_5ykz7a6v --params-file /tmp/launch_params___3qp74y + 0.47sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_4ald5cnv --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_5ykz7a6v --params-file /tmp/launch_params___3qp74y [0m ×2 + 0.52sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.52sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.52sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.52sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.53sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.56sINFOros2_control_node[2026-08-13 22:09:39.107] [info] Controller state will be published at 10 Hz. ×2 + 0.56sINFOros2_control_node[2026-08-13 22:09:39.108] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.68sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.89sINFOros2-7process has finished cleanly [pid 8994] ×2 + 0.91sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 0.91sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 0.91sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 0.91sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 0.91sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_4ald5cnv --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_5ykz7a6v --params-file /tmp/launch_params___3qp74y + 0.91sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_4ald5cnv --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_5ykz7a6v --params-file /tmp/launch_params___3qp74y [0m ×2 + 0.92sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.92sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.96sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 0.96sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 0.96sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 0.96sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 0.96sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 0.96sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.96sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 0.96sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.563918 ms (missed cycles : 3). + 0.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.563918 ms (missed cycles : 3).[0m ×2 + 0.97sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 0.97sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 1.13sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786658979.67968941 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.14sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786658979.68986797 seconds ×3 + 1.14sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.14sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.16sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.16sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.16sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.16sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.26sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 1.26sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 1.26sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 1.26sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 1.27sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_4ald5cnv --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_5ykz7a6v --params-file /tmp/launch_params___3qp74y + 1.27sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_4ald5cnv --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_5ykz7a6v --params-file /tmp/launch_params___3qp74y [0m ×2 + 1.29sINFOros2-3process has finished cleanly [pid 8990] ×2 + 1.31sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 1.31sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 1.31sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 1.31sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 1.31sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 1.31sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 1.32sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 1.32sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 1.33sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 1.33sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 1.65sINFOros2-4process has finished cleanly [pid 8991] ×2 + 1.72sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786658980.27589941 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.73sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.73sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.381597 ms (missed cycles : 3). + 1.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.381597 ms (missed cycles : 3).[0m ×2 + 2.63sWARNros2_control_nodeCamera render tick took 1.83 s (budget 0.100 s, EGL vendor 'Mesa Project'). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.78sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786658981.33603382 seconds ×3 + 3.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.183569 ms (missed cycles : 2). + 3.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.183569 ms (missed cycles : 2).[0m ×2 + 3.41sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786658981.95932627 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.47sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786658982.01949716 seconds ×3 + 4.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.648168 ms (missed cycles : 4). + 4.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.648168 ms (missed cycles : 4).[0m ×2 + 4.13sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786658982.67854762 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.15sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786658982.69866109 seconds ×3 + 4.87sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786658983.41888142 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.02sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786658983.56966352 seconds ×3 + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.556631 ms (missed cycles : 2). + 5.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.556631 ms (missed cycles : 2).[0m ×2 + 5.16sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 5.71sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786658984.25855422 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.72sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 5.72sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 5.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.75sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786658984.30869198 seconds ×3 + 6.36sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786658984.91084266 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.728162 ms (missed cycles : 2). + 6.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.728162 ms (missed cycles : 2).[0m ×2 + 6.37sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 6.37sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.37sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.37sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.37sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.37sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.37sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.48sINFOobjective_server_nodeFound path in 0 iterations (8.5289e-05 s). ×2 + 6.48sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 6.50sINFOros2_control_node[2026-08-13 22:09:45.047] [info] Received new action goal ×2 + 6.50sINFOros2_control_node[2026-08-13 22:09:45.047] [info] Accepted new action goal ×2 + 7.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.978946 ms (missed cycles : 2). + 7.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.978946 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | teleoperate.xml | 0.1s | 28 warnings · 310 info |
+ 0.00sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.21sINFOros2-7process has finished cleanly [pid 8994] ×2 + 0.23sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 0.23sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 0.23sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 0.23sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 0.23sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_4ald5cnv --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_5ykz7a6v --params-file /tmp/launch_params___3qp74y + 0.24sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_4ald5cnv --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_5ykz7a6v --params-file /tmp/launch_params___3qp74y [0m ×2 + 0.24sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.24sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.28sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 0.28sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 0.28sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 0.28sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 0.28sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 0.28sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.28sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 0.28sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.29sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.563918 ms (missed cycles : 3). + 0.29sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 0.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.563918 ms (missed cycles : 3).[0m ×2 + 0.29sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 0.29sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 0.45sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786658979.67968941 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.46sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786658979.68986797 seconds ×3 + 0.47sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 0.47sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.47sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 0.47sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.48sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.48sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.48sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 0.48sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 0.48sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 0.48sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 0.58sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.58sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.58sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.58sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.59sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_4ald5cnv --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_5ykz7a6v --params-file /tmp/launch_params___3qp74y + 0.59sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_4ald5cnv --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_5ykz7a6v --params-file /tmp/launch_params___3qp74y [0m ×2 + 0.61sINFOros2-3process has finished cleanly [pid 8990] ×2 + 0.63sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.63sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.64sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.64sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.64sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.64sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.64sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.65sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.65sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.65sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 0.97sINFOros2-4process has finished cleanly [pid 8991] ×2 + 1.05sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786658980.27589941 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.05sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.05sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.381597 ms (missed cycles : 3). + 1.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.381597 ms (missed cycles : 3).[0m ×2 + 1.95sWARNros2_control_nodeCamera render tick took 1.83 s (budget 0.100 s, EGL vendor 'Mesa Project'). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.11sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786658981.33603382 seconds ×3 + 2.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.183569 ms (missed cycles : 2). + 2.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.183569 ms (missed cycles : 2).[0m ×2 + 2.73sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786658981.95932627 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.79sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786658982.01949716 seconds ×3 + 3.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.648168 ms (missed cycles : 4). + 3.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.648168 ms (missed cycles : 4).[0m ×2 + 3.45sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786658982.67854762 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.47sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786658982.69866109 seconds ×3 + 4.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786658983.41888142 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786658983.56966352 seconds ×3 + 4.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.556631 ms (missed cycles : 2). + 4.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.556631 ms (missed cycles : 2).[0m ×2 + 4.48sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 5.03sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786658984.25855422 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.04sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 5.04sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 5.07sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.07sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.07sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786658984.30869198 seconds ×3 + 5.68sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786658984.91084266 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.728162 ms (missed cycles : 2). + 5.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.728162 ms (missed cycles : 2).[0m ×2 + 5.69sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 5.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.69sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.70sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.70sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.70sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.70sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.70sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.70sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.80sINFOobjective_server_nodeFound path in 0 iterations (8.5289e-05 s). ×2 + 5.80sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.82sINFOros2_control_node[2026-08-13 22:09:45.047] [info] Received new action goal ×2 + 5.82sINFOros2_control_node[2026-08-13 22:09:45.047] [info] Accepted new action goal ×2 + 6.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.978946 ms (missed cycles : 2). + 6.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.978946 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | createvector.xml | 0.0s | 27 warnings · 404 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 0.00sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 0.00sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 0.00sINFOros2-8process has finished cleanly [pid 8995] ×2 + 0.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.418068 ms (missed cycles : 2). + 0.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.418068 ms (missed cycles : 2).[0m ×2 + 0.08sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_4ald5cnv --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_5ykz7a6v --params-file /tmp/launch_params___3qp74y + 0.08sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_4ald5cnv --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_5ykz7a6v --params-file /tmp/launch_params___3qp74y [0m ×2 + 0.13sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.13sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 0.13sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 0.13sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 0.13sINFOros2_control_node[2026-08-13 22:09:38.185] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.13sINFOros2_control_node[2026-08-13 22:09:38.185] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.14sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.16sINFOros2_control_node[2026-08-13 22:09:38.212] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.16sINFOros2_control_node[2026-08-13 22:09:38.212] [info] Controller state will be published at 50 Hz. ×2 + 0.17sINFOros2_control_node[2026-08-13 22:09:38.221] [info] Registered `FollowJointTrajectory` action server. ×2 + 0.50sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.50sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.50sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.50sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.50sINFOros2-6process has finished cleanly [pid 8993] ×2 + 0.50sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_4ald5cnv --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_5ykz7a6v --params-file /tmp/launch_params___3qp74y + 0.50sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_4ald5cnv --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_5ykz7a6v --params-file /tmp/launch_params___3qp74y [0m ×2 + 0.57sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.57sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.57sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.57sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.57sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.57sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.58sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.58sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.58sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.58sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.58sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.58sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.58sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.58sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.58sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] ×2 + 0.59sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×4 + 0.59sINFOcontroller_managerSuccessfully switched controllers! ×19 + 0.59sINFOros2_control_nodeSuccessfully switched controllers![0m ×38 + 0.59sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.59sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×2 + 0.59sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.66sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.70sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 0.70sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.70sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.70sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.70sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.70sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.72sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.72sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 0.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 0.90sINFOros2-5process has finished cleanly [pid 8992] ×2 + 0.91sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.91sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.91sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.91sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.97sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_4ald5cnv --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_5ykz7a6v --params-file /tmp/launch_params___3qp74y + 0.97sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_4ald5cnv --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_5ykz7a6v --params-file /tmp/launch_params___3qp74y [0m ×2 + 1.01sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 1.01sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 1.02sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 1.02sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 1.05sINFOros2_control_node[2026-08-13 22:09:39.107] [info] Controller state will be published at 10 Hz. ×2 + 1.05sINFOros2_control_node[2026-08-13 22:09:39.108] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.18sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 1.39sINFOros2-7process has finished cleanly [pid 8994] ×2 + 1.41sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 1.41sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 1.41sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 1.41sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 1.41sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_4ald5cnv --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_5ykz7a6v --params-file /tmp/launch_params___3qp74y + 1.41sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_4ald5cnv --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_5ykz7a6v --params-file /tmp/launch_params___3qp74y [0m ×2 + 1.42sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 1.42sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 1.45sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 1.46sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 1.46sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 1.46sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 1.46sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 1.46sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 1.46sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 1.46sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 1.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.563918 ms (missed cycles : 3). + 1.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.563918 ms (missed cycles : 3).[0m ×2 + 1.47sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 1.47sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 1.63sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786658979.67968941 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.64sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786658979.68986797 seconds ×3 + 1.64sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.64sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.65sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.65sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.66sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.66sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.76sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 1.76sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 1.76sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 1.76sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 1.76sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_4ald5cnv --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_5ykz7a6v --params-file /tmp/launch_params___3qp74y + 1.76sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_4ald5cnv --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_5ykz7a6v --params-file /tmp/launch_params___3qp74y [0m ×2 + 1.79sINFOros2-3process has finished cleanly [pid 8990] ×2 + 1.81sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 1.81sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 1.81sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 1.81sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 1.81sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 1.81sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 1.82sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 1.82sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 1.83sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 1.83sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 2.14sINFOros2-4process has finished cleanly [pid 8991] ×2 + 2.22sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786658980.27589941 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.23sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.23sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.381597 ms (missed cycles : 3). + 2.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.381597 ms (missed cycles : 3).[0m ×2 + 3.13sWARNros2_control_nodeCamera render tick took 1.83 s (budget 0.100 s, EGL vendor 'Mesa Project'). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.28sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786658981.33603382 seconds ×3 + 3.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.183569 ms (missed cycles : 2). + 3.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.183569 ms (missed cycles : 2).[0m ×2 + 3.91sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786658981.95932627 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.97sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786658982.01949716 seconds ×3 + 4.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.648168 ms (missed cycles : 4). + 4.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.648168 ms (missed cycles : 4).[0m ×2 + 4.62sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786658982.67854762 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.64sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786658982.69866109 seconds ×3 + 5.36sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786658983.41888142 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.52sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786658983.56966352 seconds ×3 + 5.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.556631 ms (missed cycles : 2). + 5.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.556631 ms (missed cycles : 2).[0m ×2 + 5.66sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 6.20sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786658984.25855422 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.22sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 6.22sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 6.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 6.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 6.24sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 6.25sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786658984.30869198 seconds ×3 | ||||
| − skipped | — | addtovector.xml | 0.0s | 6 warnings · 88 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/2026-08-13-22-09-30-847556-8d9ffa43d14f-8940 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 1.81sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 1.83sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 1.83sINFOcontroller_managerupdate rate is 600 Hz + 1.83sINFOcontroller_managerOverruns handling is : enabled + 1.83sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 1.83sWARNcontroller_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. + 1.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.499157 ms (missed cycles : 3). + 2.03sINFOros2_control_node-1process started with pid [8988] ×2 + 2.03sINFOmove_group-9process started with pid [9025] ×2 + 2.03sINFOparameter_manager_node-10process started with pid [9026] ×2 + 2.03sINFOwaypoint_manager_node-11process started with pid [9027] ×2 + 2.03sINFOmove_joint_resampler_node-12process started with pid [9028] ×2 + 2.03sINFOmove_end_effector_resampler_node-13process started with pid [9029] ×2 + 2.04sINFOobjective_server_node_main-14process started with pid [9030] ×2 + 2.04sINFOcomponent_container_mt-15process started with pid [9031] ×2 + 2.04sINFOcomponent_container_mt-16process started with pid [9032] ×2 + 2.04sINFOexecute_objective_bridge-17process started with pid [9033] ×2 + 2.04sINFOui_teleop_bridge-18process started with pid [9034] ×2 + 2.04sINFOweb_bridge-19process started with pid [9035] ×2 + 2.04sINFOtf2_web_republisher_node-20process started with pid [9099] ×2 + 2.04sINFOvideo_server-21process started with pid [9100] ×2 + 2.04sINFOweb_bridge_auth_proxy-22process started with pid [9101] ×2 + 2.04sINFOweb_video_auth_proxy-23process started with pid [9102] ×2 + 2.06sINFOros2-2process started with pid [8989] ×2 + 2.06sINFOros2-3process started with pid [8990] ×2 + 2.06sINFOros2-4process started with pid [8991] ×2 + 2.06sINFOros2-5process started with pid [8992] ×2 + 2.06sINFOros2-6process started with pid [8993] ×2 + 2.06sINFOros2-7process started with pid [8994] ×2 + 2.06sINFOros2-8process started with pid [8995] ×2 + 2.08sINFOcontroller_managerReceived robot description from topic. + 2.08sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 2.10sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 2.12sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 2.12sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 2.12sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 2.12sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 2.12sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 2.12sWARNros2_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 + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.499157 ms (missed cycles : 3).[0m ×2 + 2.13sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 2.13sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 2.13sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 2.13sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 2.20sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 2.25sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 2.44sINFOvideo_server2026/08/13 22:09:34 INF MediaMTX v1.19.3, linux, amd64 ×2 + 2.44sINFOvideo_server2026/08/13 22:09:34 INF configuration loaded from /tmp/moveit-webrtc-vyzb7243/mediamtx.yml ×2 + 2.44sINFOvideo_server2026/08/13 22:09:34 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 + 2.44sINFOvideo_server2026/08/13 22:09:34 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 | ||||
| − skipped | — | convert_collisionobject_to_graspableobject.xml | 0.0s | 27 warnings · 404 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 0.00sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 0.00sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 0.00sINFOros2-8process has finished cleanly [pid 8995] ×2 + 0.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.418068 ms (missed cycles : 2). + 0.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.418068 ms (missed cycles : 2).[0m ×2 + 0.08sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_4ald5cnv --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_5ykz7a6v --params-file /tmp/launch_params___3qp74y + 0.08sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_4ald5cnv --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_5ykz7a6v --params-file /tmp/launch_params___3qp74y [0m ×2 + 0.13sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.13sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 0.13sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 0.13sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 0.13sINFOros2_control_node[2026-08-13 22:09:38.185] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.13sINFOros2_control_node[2026-08-13 22:09:38.185] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.14sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.16sINFOros2_control_node[2026-08-13 22:09:38.212] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.16sINFOros2_control_node[2026-08-13 22:09:38.212] [info] Controller state will be published at 50 Hz. ×2 + 0.17sINFOros2_control_node[2026-08-13 22:09:38.221] [info] Registered `FollowJointTrajectory` action server. ×2 + 0.50sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.50sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.50sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.50sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.50sINFOros2-6process has finished cleanly [pid 8993] ×2 + 0.50sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_4ald5cnv --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_5ykz7a6v --params-file /tmp/launch_params___3qp74y + 0.50sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_4ald5cnv --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_5ykz7a6v --params-file /tmp/launch_params___3qp74y [0m ×2 + 0.57sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.57sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.57sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.57sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.57sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.57sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.58sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.58sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.58sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.58sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.58sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.58sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.58sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.58sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.58sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] ×2 + 0.59sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×4 + 0.59sINFOcontroller_managerSuccessfully switched controllers! ×19 + 0.59sINFOros2_control_nodeSuccessfully switched controllers![0m ×38 + 0.59sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.59sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×2 + 0.59sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.66sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.70sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 0.70sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.70sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.70sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.70sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.70sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.72sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.72sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 0.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 0.90sINFOros2-5process has finished cleanly [pid 8992] ×2 + 0.91sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.91sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.91sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.91sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.97sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_4ald5cnv --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_5ykz7a6v --params-file /tmp/launch_params___3qp74y + 0.97sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_4ald5cnv --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_5ykz7a6v --params-file /tmp/launch_params___3qp74y [0m ×2 + 1.01sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 1.01sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 1.02sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 1.02sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 1.05sINFOros2_control_node[2026-08-13 22:09:39.107] [info] Controller state will be published at 10 Hz. ×2 + 1.05sINFOros2_control_node[2026-08-13 22:09:39.108] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.18sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 1.39sINFOros2-7process has finished cleanly [pid 8994] ×2 + 1.41sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 1.41sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 1.41sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 1.41sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 1.41sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_4ald5cnv --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_5ykz7a6v --params-file /tmp/launch_params___3qp74y + 1.41sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_4ald5cnv --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_5ykz7a6v --params-file /tmp/launch_params___3qp74y [0m ×2 + 1.42sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 1.42sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 1.45sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 1.46sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 1.46sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 1.46sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 1.46sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 1.46sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 1.46sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 1.46sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 1.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.563918 ms (missed cycles : 3). + 1.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.563918 ms (missed cycles : 3).[0m ×2 + 1.47sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 1.47sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 1.63sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786658979.67968941 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.64sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786658979.68986797 seconds ×3 + 1.64sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.64sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.65sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.65sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.66sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.66sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.76sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 1.76sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 1.76sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 1.76sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 1.76sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_4ald5cnv --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_5ykz7a6v --params-file /tmp/launch_params___3qp74y + 1.76sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_4ald5cnv --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_5ykz7a6v --params-file /tmp/launch_params___3qp74y [0m ×2 + 1.79sINFOros2-3process has finished cleanly [pid 8990] ×2 + 1.81sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 1.81sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 1.81sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 1.81sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 1.81sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 1.81sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 1.82sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 1.82sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 1.83sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 1.83sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 2.14sINFOros2-4process has finished cleanly [pid 8991] ×2 + 2.22sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786658980.27589941 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.23sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.23sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.381597 ms (missed cycles : 3). + 2.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.381597 ms (missed cycles : 3).[0m ×2 + 3.13sWARNros2_control_nodeCamera render tick took 1.83 s (budget 0.100 s, EGL vendor 'Mesa Project'). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.28sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786658981.33603382 seconds ×3 + 3.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.183569 ms (missed cycles : 2). + 3.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.183569 ms (missed cycles : 2).[0m ×2 + 3.91sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786658981.95932627 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.97sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786658982.01949716 seconds ×3 + 4.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.648168 ms (missed cycles : 4). + 4.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.648168 ms (missed cycles : 4).[0m ×2 + 4.62sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786658982.67854762 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.64sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786658982.69866109 seconds ×3 + 5.36sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786658983.41888142 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.52sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786658983.56966352 seconds ×3 + 5.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.556631 ms (missed cycles : 2). + 5.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.556631 ms (missed cycles : 2).[0m ×2 + 5.66sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 6.20sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786658984.25855422 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.22sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 6.22sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 6.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 6.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 6.24sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 6.25sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786658984.30869198 seconds ×3 | ||||
| − skipped | — | find_nearest_pose_in_path.xml | 0.0s | 27 warnings · 404 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 0.00sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 0.00sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 0.00sINFOros2-8process has finished cleanly [pid 8995] ×2 + 0.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.418068 ms (missed cycles : 2). + 0.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.418068 ms (missed cycles : 2).[0m ×2 + 0.08sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_4ald5cnv --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_5ykz7a6v --params-file /tmp/launch_params___3qp74y + 0.08sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_4ald5cnv --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_5ykz7a6v --params-file /tmp/launch_params___3qp74y [0m ×2 + 0.13sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.13sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 0.13sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 0.13sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 0.13sINFOros2_control_node[2026-08-13 22:09:38.185] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.13sINFOros2_control_node[2026-08-13 22:09:38.185] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.14sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.16sINFOros2_control_node[2026-08-13 22:09:38.212] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.16sINFOros2_control_node[2026-08-13 22:09:38.212] [info] Controller state will be published at 50 Hz. ×2 + 0.17sINFOros2_control_node[2026-08-13 22:09:38.221] [info] Registered `FollowJointTrajectory` action server. ×2 + 0.50sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.50sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.50sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.50sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.50sINFOros2-6process has finished cleanly [pid 8993] ×2 + 0.50sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_4ald5cnv --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_5ykz7a6v --params-file /tmp/launch_params___3qp74y + 0.50sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_4ald5cnv --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_5ykz7a6v --params-file /tmp/launch_params___3qp74y [0m ×2 + 0.57sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.57sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.57sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.57sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.57sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.57sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.58sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.58sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.58sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.58sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.58sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.58sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.58sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.58sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.58sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] ×2 + 0.59sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×4 + 0.59sINFOcontroller_managerSuccessfully switched controllers! ×19 + 0.59sINFOros2_control_nodeSuccessfully switched controllers![0m ×38 + 0.59sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.59sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×2 + 0.59sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.66sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.70sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 0.70sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.70sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.70sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.70sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.70sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.72sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.72sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 0.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 0.90sINFOros2-5process has finished cleanly [pid 8992] ×2 + 0.91sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.91sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.91sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.91sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.97sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_4ald5cnv --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_5ykz7a6v --params-file /tmp/launch_params___3qp74y + 0.97sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_4ald5cnv --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_5ykz7a6v --params-file /tmp/launch_params___3qp74y [0m ×2 + 1.01sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 1.01sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 1.02sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 1.02sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 1.05sINFOros2_control_node[2026-08-13 22:09:39.107] [info] Controller state will be published at 10 Hz. ×2 + 1.05sINFOros2_control_node[2026-08-13 22:09:39.108] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.18sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 1.39sINFOros2-7process has finished cleanly [pid 8994] ×2 + 1.41sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 1.41sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 1.41sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 1.41sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 1.41sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_4ald5cnv --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_5ykz7a6v --params-file /tmp/launch_params___3qp74y + 1.41sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_4ald5cnv --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_5ykz7a6v --params-file /tmp/launch_params___3qp74y [0m ×2 + 1.42sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 1.42sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 1.45sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 1.46sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 1.46sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 1.46sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 1.46sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 1.46sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 1.46sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 1.46sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 1.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.563918 ms (missed cycles : 3). + 1.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.563918 ms (missed cycles : 3).[0m ×2 + 1.47sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 1.47sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 1.63sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786658979.67968941 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.64sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786658979.68986797 seconds ×3 + 1.64sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.64sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.65sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.65sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.66sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.66sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.76sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 1.76sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 1.76sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 1.76sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 1.76sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_4ald5cnv --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_5ykz7a6v --params-file /tmp/launch_params___3qp74y + 1.76sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_4ald5cnv --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_5ykz7a6v --params-file /tmp/launch_params___3qp74y [0m ×2 + 1.79sINFOros2-3process has finished cleanly [pid 8990] ×2 + 1.81sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 1.81sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 1.81sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 1.81sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 1.81sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 1.81sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 1.82sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 1.82sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 1.83sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 1.83sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 2.14sINFOros2-4process has finished cleanly [pid 8991] ×2 + 2.22sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786658980.27589941 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.23sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.23sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.381597 ms (missed cycles : 3). + 2.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.381597 ms (missed cycles : 3).[0m ×2 + 3.13sWARNros2_control_nodeCamera render tick took 1.83 s (budget 0.100 s, EGL vendor 'Mesa Project'). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.28sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786658981.33603382 seconds ×3 + 3.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.183569 ms (missed cycles : 2). + 3.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.183569 ms (missed cycles : 2).[0m ×2 + 3.91sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786658981.95932627 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.97sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786658982.01949716 seconds ×3 + 4.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.648168 ms (missed cycles : 4). + 4.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.648168 ms (missed cycles : 4).[0m ×2 + 4.62sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786658982.67854762 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.64sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786658982.69866109 seconds ×3 + 5.36sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786658983.41888142 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.52sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786658983.56966352 seconds ×3 + 5.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.556631 ms (missed cycles : 2). + 5.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.556631 ms (missed cycles : 2).[0m ×2 + 5.66sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 6.20sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786658984.25855422 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.22sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 6.22sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 6.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 6.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 6.24sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 6.25sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786658984.30869198 seconds ×3 | ||||
| − skipped | — | request_teleoperation.xml | 0.0s | 27 warnings · 404 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.00sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.00sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.00sINFOros2-6process has finished cleanly [pid 8993] ×2 + 0.01sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_4ald5cnv --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_5ykz7a6v --params-file /tmp/launch_params___3qp74y + 0.01sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_4ald5cnv --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_5ykz7a6v --params-file /tmp/launch_params___3qp74y [0m ×2 + 0.07sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.07sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.08sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.08sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.08sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.08sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.08sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.08sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.08sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.08sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.08sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.08sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.08sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.08sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] ×2 + 0.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×4 + 0.09sINFOcontroller_managerSuccessfully switched controllers! ×20 + 0.09sINFOros2_control_nodeSuccessfully switched controllers![0m ×40 + 0.09sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.09sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×2 + 0.09sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.16sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.20sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] ×2 + 0.20sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.20sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×4 + 0.20sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.20sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.23sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 0.23sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 0.40sINFOros2-5process has finished cleanly [pid 8992] ×2 + 0.41sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.41sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.41sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.41sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.47sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_4ald5cnv --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_5ykz7a6v --params-file /tmp/launch_params___3qp74y + 0.47sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_4ald5cnv --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_5ykz7a6v --params-file /tmp/launch_params___3qp74y [0m ×2 + 0.52sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.52sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.52sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.52sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.53sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.56sINFOros2_control_node[2026-08-13 22:09:39.107] [info] Controller state will be published at 10 Hz. ×2 + 0.56sINFOros2_control_node[2026-08-13 22:09:39.108] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.68sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.89sINFOros2-7process has finished cleanly [pid 8994] ×2 + 0.91sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 0.91sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 0.91sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 0.91sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 0.91sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_4ald5cnv --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_5ykz7a6v --params-file /tmp/launch_params___3qp74y + 0.91sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_4ald5cnv --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_5ykz7a6v --params-file /tmp/launch_params___3qp74y [0m ×2 + 0.92sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.92sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.96sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 0.96sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 0.96sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 0.96sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 0.96sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 0.96sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.96sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 0.96sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.563918 ms (missed cycles : 3). + 0.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.563918 ms (missed cycles : 3).[0m ×2 + 0.97sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 0.97sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 1.13sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786658979.67968941 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.14sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786658979.68986797 seconds ×3 + 1.14sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.14sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.16sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.16sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.16sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.16sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.26sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 1.26sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 1.26sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 1.26sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 1.27sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_4ald5cnv --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_5ykz7a6v --params-file /tmp/launch_params___3qp74y + 1.27sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_4ald5cnv --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_5ykz7a6v --params-file /tmp/launch_params___3qp74y [0m ×2 + 1.29sINFOros2-3process has finished cleanly [pid 8990] ×2 + 1.31sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 1.31sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 1.31sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 1.31sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 1.31sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 1.31sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 1.32sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 1.32sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 1.33sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 1.33sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 1.65sINFOros2-4process has finished cleanly [pid 8991] ×2 + 1.72sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786658980.27589941 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.73sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.73sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.381597 ms (missed cycles : 3). + 1.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.381597 ms (missed cycles : 3).[0m ×2 + 2.63sWARNros2_control_nodeCamera render tick took 1.83 s (budget 0.100 s, EGL vendor 'Mesa Project'). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.78sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786658981.33603382 seconds ×3 + 3.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.183569 ms (missed cycles : 2). + 3.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.183569 ms (missed cycles : 2).[0m ×2 + 3.41sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786658981.95932627 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.47sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786658982.01949716 seconds ×3 + 4.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.648168 ms (missed cycles : 4). + 4.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.648168 ms (missed cycles : 4).[0m ×2 + 4.13sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786658982.67854762 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.15sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786658982.69866109 seconds ×3 + 4.87sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786658983.41888142 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.02sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786658983.56966352 seconds ×3 + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.556631 ms (missed cycles : 2). + 5.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.556631 ms (missed cycles : 2).[0m ×2 + 5.16sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 5.71sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786658984.25855422 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.72sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 5.72sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 5.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.75sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786658984.30869198 seconds ×3 + 6.36sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786658984.91084266 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.728162 ms (missed cycles : 2). + 6.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.728162 ms (missed cycles : 2).[0m ×2 + 6.37sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 6.37sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.37sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.37sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.37sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.37sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.37sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.48sINFOobjective_server_nodeFound path in 0 iterations (8.5289e-05 s). ×2 + 6.48sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 6.50sINFOros2_control_node[2026-08-13 22:09:45.047] [info] Received new action goal ×2 + 6.50sINFOros2_control_node[2026-08-13 22:09:45.047] [info] Accepted new action goal ×2 | ||||
| − skipped | — | wait_for_joint_trajectory_approval.xml | 0.0s | 22 warnings · 219 info |
+ 0.00sINFOros2-4process has finished cleanly [pid 8991] ×2 + 0.08sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786658980.27589941 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 + 0.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.381597 ms (missed cycles : 3). + 0.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.381597 ms (missed cycles : 3).[0m ×2 + 0.98sWARNros2_control_nodeCamera render tick took 1.83 s (budget 0.100 s, EGL vendor 'Mesa Project'). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.14sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786658981.33603382 seconds ×3 + 1.18sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.18sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.18sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.18sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.18sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.18sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.19sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.19sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.19sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.19sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.19sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.19sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.183569 ms (missed cycles : 2). + 1.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.183569 ms (missed cycles : 2).[0m ×2 + 1.76sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786658981.95932627 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.82sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786658982.01949716 seconds ×3 + 2.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.648168 ms (missed cycles : 4). + 2.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.648168 ms (missed cycles : 4).[0m ×2 + 2.48sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786658982.67854762 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.50sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786658982.69866109 seconds ×3 + 3.22sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786658983.41888142 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.37sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786658983.56966352 seconds ×3 + 3.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.556631 ms (missed cycles : 2). + 3.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.556631 ms (missed cycles : 2).[0m ×2 + 3.51sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 4.06sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786658984.25855422 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.08sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.08sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.10sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786658984.30869198 seconds ×3 + 4.71sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786658984.91084266 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.728162 ms (missed cycles : 2). + 4.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.728162 ms (missed cycles : 2).[0m ×2 + 4.72sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.73sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.73sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.73sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.83sINFOobjective_server_nodeFound path in 0 iterations (8.5289e-05 s). ×2 + 4.84sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.85sINFOros2_control_node[2026-08-13 22:09:45.047] [info] Received new action goal ×2 + 4.85sINFOros2_control_node[2026-08-13 22:09:45.047] [info] Accepted new action goal ×2 + 5.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.978946 ms (missed cycles : 2). + 5.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.978946 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | wait_for_trajectory_approval_if_user_available.xml | 0.0s | 22 warnings · 219 info |
+ 0.00sINFOros2-4process has finished cleanly [pid 8991] ×2 + 0.08sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786658980.27589941 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 + 0.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.381597 ms (missed cycles : 3). + 0.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.381597 ms (missed cycles : 3).[0m ×2 + 0.98sWARNros2_control_nodeCamera render tick took 1.83 s (budget 0.100 s, EGL vendor 'Mesa Project'). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.14sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786658981.33603382 seconds ×3 + 1.18sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.18sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.18sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.18sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.18sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.18sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.19sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.19sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.19sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.19sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.19sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.19sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.183569 ms (missed cycles : 2). + 1.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.183569 ms (missed cycles : 2).[0m ×2 + 1.76sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786658981.95932627 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.82sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786658982.01949716 seconds ×3 + 2.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.648168 ms (missed cycles : 4). + 2.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.648168 ms (missed cycles : 4).[0m ×2 + 2.48sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786658982.67854762 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.50sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786658982.69866109 seconds ×3 + 3.22sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786658983.41888142 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.37sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786658983.56966352 seconds ×3 + 3.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.556631 ms (missed cycles : 2). + 3.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.556631 ms (missed cycles : 2).[0m ×2 + 3.51sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 4.06sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786658984.25855422 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.08sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.08sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.10sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786658984.30869198 seconds ×3 + 4.71sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786658984.91084266 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.728162 ms (missed cycles : 2). + 4.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.728162 ms (missed cycles : 2).[0m ×2 + 4.72sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.73sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.73sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.73sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.83sINFOobjective_server_nodeFound path in 0 iterations (8.5289e-05 s). ×2 + 4.84sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.85sINFOros2_control_node[2026-08-13 22:09:45.047] [info] Received new action goal ×2 + 4.85sINFOros2_control_node[2026-08-13 22:09:45.047] [info] Accepted new action goal ×2 + 5.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.978946 ms (missed cycles : 2). + 5.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.978946 ms (missed cycles : 2).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/motion10 skip
| − skipped | — | interpolate_to_joint_state.xml | 0.0s | 22 warnings · 219 info |
+ 0.00sINFOros2-4process has finished cleanly [pid 8991] ×2 + 0.08sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786658980.27589941 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 + 0.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.381597 ms (missed cycles : 3). + 0.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.381597 ms (missed cycles : 3).[0m ×2 + 0.98sWARNros2_control_nodeCamera render tick took 1.83 s (budget 0.100 s, EGL vendor 'Mesa Project'). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.14sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786658981.33603382 seconds ×3 + 1.18sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.18sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.18sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.18sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.18sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.18sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.19sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.19sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.19sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.19sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.19sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.19sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.183569 ms (missed cycles : 2). + 1.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.183569 ms (missed cycles : 2).[0m ×2 + 1.76sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786658981.95932627 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.82sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786658982.01949716 seconds ×3 + 2.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.648168 ms (missed cycles : 4). + 2.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.648168 ms (missed cycles : 4).[0m ×2 + 2.48sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786658982.67854762 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.50sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786658982.69866109 seconds ×3 + 3.22sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786658983.41888142 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.37sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786658983.56966352 seconds ×3 + 3.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.556631 ms (missed cycles : 2). + 3.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.556631 ms (missed cycles : 2).[0m ×2 + 3.51sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 4.06sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786658984.25855422 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.08sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.08sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.10sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786658984.30869198 seconds ×3 + 4.71sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786658984.91084266 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.728162 ms (missed cycles : 2). + 4.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.728162 ms (missed cycles : 2).[0m ×2 + 4.72sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.73sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.73sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.73sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.83sINFOobjective_server_nodeFound path in 0 iterations (8.5289e-05 s). ×2 + 4.84sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.85sINFOros2_control_node[2026-08-13 22:09:45.047] [info] Received new action goal ×2 + 4.85sINFOros2_control_node[2026-08-13 22:09:45.047] [info] Accepted new action goal ×2 + 5.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.978946 ms (missed cycles : 2). + 5.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.978946 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | move_to_joint_state.xml | 0.0s | 22 warnings · 219 info |
+ 0.00sINFOros2-4process has finished cleanly [pid 8991] ×2 + 0.08sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786658980.27589941 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 + 0.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.381597 ms (missed cycles : 3). + 0.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.381597 ms (missed cycles : 3).[0m ×2 + 0.98sWARNros2_control_nodeCamera render tick took 1.83 s (budget 0.100 s, EGL vendor 'Mesa Project'). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.14sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786658981.33603382 seconds ×3 + 1.18sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.18sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.18sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.18sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.18sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.18sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.19sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.19sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.19sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.19sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.19sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.19sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.183569 ms (missed cycles : 2). + 1.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.183569 ms (missed cycles : 2).[0m ×2 + 1.76sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786658981.95932627 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.82sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786658982.01949716 seconds ×3 + 2.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.648168 ms (missed cycles : 4). + 2.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.648168 ms (missed cycles : 4).[0m ×2 + 2.48sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786658982.67854762 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.50sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786658982.69866109 seconds ×3 + 3.22sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786658983.41888142 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.37sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786658983.56966352 seconds ×3 + 3.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.556631 ms (missed cycles : 2). + 3.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.556631 ms (missed cycles : 2).[0m ×2 + 3.51sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 4.06sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786658984.25855422 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.08sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.08sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.10sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786658984.30869198 seconds ×3 + 4.71sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786658984.91084266 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.728162 ms (missed cycles : 2). + 4.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.728162 ms (missed cycles : 2).[0m ×2 + 4.72sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.73sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.73sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.73sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.83sINFOobjective_server_nodeFound path in 0 iterations (8.5289e-05 s). ×2 + 4.84sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.85sINFOros2_control_node[2026-08-13 22:09:45.047] [info] Received new action goal ×2 + 4.85sINFOros2_control_node[2026-08-13 22:09:45.047] [info] Accepted new action goal ×2 + 5.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.978946 ms (missed cycles : 2). + 5.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.978946 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | move_to_pose.xml | 0.0s | 22 warnings · 219 info |
+ 0.00sINFOros2-4process has finished cleanly [pid 8991] ×2 + 0.08sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786658980.27589941 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 + 0.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.381597 ms (missed cycles : 3). + 0.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.381597 ms (missed cycles : 3).[0m ×2 + 0.98sWARNros2_control_nodeCamera render tick took 1.83 s (budget 0.100 s, EGL vendor 'Mesa Project'). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.14sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786658981.33603382 seconds ×3 + 1.18sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.18sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.18sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.18sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.18sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.18sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.19sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.19sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.19sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.19sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.19sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.19sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.183569 ms (missed cycles : 2). + 1.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.183569 ms (missed cycles : 2).[0m ×2 + 1.76sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786658981.95932627 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.82sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786658982.01949716 seconds ×3 + 2.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.648168 ms (missed cycles : 4). + 2.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.648168 ms (missed cycles : 4).[0m ×2 + 2.48sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786658982.67854762 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.50sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786658982.69866109 seconds ×3 + 3.22sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786658983.41888142 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.37sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786658983.56966352 seconds ×3 + 3.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.556631 ms (missed cycles : 2). + 3.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.556631 ms (missed cycles : 2).[0m ×2 + 3.51sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 4.06sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786658984.25855422 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.08sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.08sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.10sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786658984.30869198 seconds ×3 + 4.71sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786658984.91084266 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.728162 ms (missed cycles : 2). + 4.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.728162 ms (missed cycles : 2).[0m ×2 + 4.72sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.73sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.73sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.73sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.83sINFOobjective_server_nodeFound path in 0 iterations (8.5289e-05 s). ×2 + 4.84sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.85sINFOros2_control_node[2026-08-13 22:09:45.047] [info] Received new action goal ×2 + 4.85sINFOros2_control_node[2026-08-13 22:09:45.047] [info] Accepted new action goal ×2 + 5.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.978946 ms (missed cycles : 2). + 5.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.978946 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | move_to_pose_jtc.xml | 0.0s | 22 warnings · 219 info |
+ 0.00sINFOros2-4process has finished cleanly [pid 8991] ×2 + 0.08sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786658980.27589941 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 + 0.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.381597 ms (missed cycles : 3). + 0.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.381597 ms (missed cycles : 3).[0m ×2 + 0.98sWARNros2_control_nodeCamera render tick took 1.83 s (budget 0.100 s, EGL vendor 'Mesa Project'). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.14sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786658981.33603382 seconds ×3 + 1.18sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.18sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.18sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.18sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.18sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.18sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.19sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.19sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.19sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.19sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.19sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.19sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.183569 ms (missed cycles : 2). + 1.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.183569 ms (missed cycles : 2).[0m ×2 + 1.76sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786658981.95932627 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.82sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786658982.01949716 seconds ×3 + 2.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.648168 ms (missed cycles : 4). + 2.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.648168 ms (missed cycles : 4).[0m ×2 + 2.48sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786658982.67854762 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.50sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786658982.69866109 seconds ×3 + 3.22sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786658983.41888142 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.37sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786658983.56966352 seconds ×3 + 3.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.556631 ms (missed cycles : 2). + 3.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.556631 ms (missed cycles : 2).[0m ×2 + 3.51sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 4.06sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786658984.25855422 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.08sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.08sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.10sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786658984.30869198 seconds ×3 + 4.71sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786658984.91084266 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.728162 ms (missed cycles : 2). + 4.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.728162 ms (missed cycles : 2).[0m ×2 + 4.72sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.73sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.73sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.73sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.83sINFOobjective_server_nodeFound path in 0 iterations (8.5289e-05 s). ×2 + 4.84sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.85sINFOros2_control_node[2026-08-13 22:09:45.047] [info] Received new action goal ×2 + 4.85sINFOros2_control_node[2026-08-13 22:09:45.047] [info] Accepted new action goal ×2 + 5.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.978946 ms (missed cycles : 2). + 5.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.978946 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | move_to_waypoint.xml | 0.0s | 22 warnings · 219 info |
+ 0.00sINFOros2-4process has finished cleanly [pid 8991] ×2 + 0.08sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786658980.27589941 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 + 0.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.381597 ms (missed cycles : 3). + 0.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.381597 ms (missed cycles : 3).[0m ×2 + 0.98sWARNros2_control_nodeCamera render tick took 1.83 s (budget 0.100 s, EGL vendor 'Mesa Project'). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.14sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786658981.33603382 seconds ×3 + 1.18sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.18sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.18sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.18sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.18sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.18sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.19sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.19sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.19sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.19sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.19sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.19sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.183569 ms (missed cycles : 2). + 1.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.183569 ms (missed cycles : 2).[0m ×2 + 1.76sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786658981.95932627 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.82sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786658982.01949716 seconds ×3 + 2.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.648168 ms (missed cycles : 4). + 2.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.648168 ms (missed cycles : 4).[0m ×2 + 2.48sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786658982.67854762 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.50sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786658982.69866109 seconds ×3 + 3.22sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786658983.41888142 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.37sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786658983.56966352 seconds ×3 + 3.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.556631 ms (missed cycles : 2). + 3.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.556631 ms (missed cycles : 2).[0m ×2 + 3.51sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 4.06sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786658984.25855422 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.08sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.08sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.10sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786658984.30869198 seconds ×3 + 4.71sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786658984.91084266 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.728162 ms (missed cycles : 2). + 4.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.728162 ms (missed cycles : 2).[0m ×2 + 4.72sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.73sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.73sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.73sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.83sINFOobjective_server_nodeFound path in 0 iterations (8.5289e-05 s). ×2 + 4.84sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.85sINFOros2_control_node[2026-08-13 22:09:45.047] [info] Received new action goal ×2 + 4.85sINFOros2_control_node[2026-08-13 22:09:45.047] [info] Accepted new action goal ×2 + 5.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.978946 ms (missed cycles : 2). + 5.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.978946 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | move_to_waypoint_jtc.xml | 0.0s | 22 warnings · 219 info |
+ 0.00sINFOros2-4process has finished cleanly [pid 8991] ×2 + 0.08sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786658980.27589941 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 + 0.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.381597 ms (missed cycles : 3). + 0.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.381597 ms (missed cycles : 3).[0m ×2 + 0.98sWARNros2_control_nodeCamera render tick took 1.83 s (budget 0.100 s, EGL vendor 'Mesa Project'). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.14sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786658981.33603382 seconds ×3 + 1.18sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.18sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.18sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.18sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.18sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.18sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.19sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.19sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.19sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.19sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.19sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.19sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.183569 ms (missed cycles : 2). + 1.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.183569 ms (missed cycles : 2).[0m ×2 + 1.76sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786658981.95932627 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.82sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786658982.01949716 seconds ×3 + 2.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.648168 ms (missed cycles : 4). + 2.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.648168 ms (missed cycles : 4).[0m ×2 + 2.48sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786658982.67854762 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.50sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786658982.69866109 seconds ×3 + 3.22sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786658983.41888142 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.37sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786658983.56966352 seconds ×3 + 3.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.556631 ms (missed cycles : 2). + 3.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.556631 ms (missed cycles : 2).[0m ×2 + 3.51sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 4.06sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786658984.25855422 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.08sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.08sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.10sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786658984.30869198 seconds ×3 + 4.71sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786658984.91084266 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.728162 ms (missed cycles : 2). + 4.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.728162 ms (missed cycles : 2).[0m ×2 + 4.72sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.73sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.73sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.73sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.83sINFOobjective_server_nodeFound path in 0 iterations (8.5289e-05 s). ×2 + 4.84sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.85sINFOros2_control_node[2026-08-13 22:09:45.047] [info] Received new action goal ×2 + 4.85sINFOros2_control_node[2026-08-13 22:09:45.047] [info] Accepted new action goal ×2 + 5.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.978946 ms (missed cycles : 2). + 5.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.978946 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | record_teleop_trajectory.xml | 0.0s | 22 warnings · 219 info |
+ 0.00sINFOros2-4process has finished cleanly [pid 8991] ×2 + 0.08sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786658980.27589941 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 + 0.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.381597 ms (missed cycles : 3). + 0.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.381597 ms (missed cycles : 3).[0m ×2 + 0.98sWARNros2_control_nodeCamera render tick took 1.83 s (budget 0.100 s, EGL vendor 'Mesa Project'). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.14sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786658981.33603382 seconds ×3 + 1.18sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.18sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.18sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.18sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.18sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.18sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.19sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.19sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.19sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.19sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.19sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.19sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.183569 ms (missed cycles : 2). + 1.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.183569 ms (missed cycles : 2).[0m ×2 + 1.76sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786658981.95932627 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.82sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786658982.01949716 seconds ×3 + 2.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.648168 ms (missed cycles : 4). + 2.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.648168 ms (missed cycles : 4).[0m ×2 + 2.48sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786658982.67854762 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.50sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786658982.69866109 seconds ×3 + 3.22sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786658983.41888142 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.37sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786658983.56966352 seconds ×3 + 3.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.556631 ms (missed cycles : 2). + 3.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.556631 ms (missed cycles : 2).[0m ×2 + 3.51sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 4.06sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786658984.25855422 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.08sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.08sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.10sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786658984.30869198 seconds ×3 + 4.71sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786658984.91084266 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.728162 ms (missed cycles : 2). + 4.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.728162 ms (missed cycles : 2).[0m ×2 + 4.72sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.73sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.73sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.73sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.83sINFOobjective_server_nodeFound path in 0 iterations (8.5289e-05 s). ×2 + 4.84sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.85sINFOros2_control_node[2026-08-13 22:09:45.047] [info] Received new action goal ×2 + 4.85sINFOros2_control_node[2026-08-13 22:09:45.047] [info] Accepted new action goal ×2 + 5.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.978946 ms (missed cycles : 2). + 5.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.978946 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | track_moving_frame.xml | 0.0s | 22 warnings · 219 info |
+ 0.00sINFOros2-4process has finished cleanly [pid 8991] ×2 + 0.08sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786658980.27589941 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 + 0.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.381597 ms (missed cycles : 3). + 0.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.381597 ms (missed cycles : 3).[0m ×2 + 0.98sWARNros2_control_nodeCamera render tick took 1.83 s (budget 0.100 s, EGL vendor 'Mesa Project'). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.14sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786658981.33603382 seconds ×3 + 1.18sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.18sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.18sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.18sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.18sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.18sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.19sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.19sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.19sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.19sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.19sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.19sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.183569 ms (missed cycles : 2). + 1.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.183569 ms (missed cycles : 2).[0m ×2 + 1.76sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786658981.95932627 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.82sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786658982.01949716 seconds ×3 + 2.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.648168 ms (missed cycles : 4). + 2.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.648168 ms (missed cycles : 4).[0m ×2 + 2.48sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786658982.67854762 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.50sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786658982.69866109 seconds ×3 + 3.22sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786658983.41888142 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.37sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786658983.56966352 seconds ×3 + 3.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.556631 ms (missed cycles : 2). + 3.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.556631 ms (missed cycles : 2).[0m ×2 + 3.51sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 4.06sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786658984.25855422 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.08sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.08sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.10sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786658984.30869198 seconds ×3 + 4.71sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786658984.91084266 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.728162 ms (missed cycles : 2). + 4.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.728162 ms (missed cycles : 2).[0m ×2 + 4.72sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.73sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.73sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.73sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.83sINFOobjective_server_nodeFound path in 0 iterations (8.5289e-05 s). ×2 + 4.84sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.85sINFOros2_control_node[2026-08-13 22:09:45.047] [info] Received new action goal ×2 + 4.85sINFOros2_control_node[2026-08-13 22:09:45.047] [info] Accepted new action goal ×2 + 5.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.978946 ms (missed cycles : 2). + 5.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.978946 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | execute_mtc_solution.xml | 0.0s | 22 warnings · 219 info |
+ 0.00sINFOros2-4process has finished cleanly [pid 8991] ×2 + 0.08sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786658980.27589941 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 + 0.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.381597 ms (missed cycles : 3). + 0.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.381597 ms (missed cycles : 3).[0m ×2 + 0.98sWARNros2_control_nodeCamera render tick took 1.83 s (budget 0.100 s, EGL vendor 'Mesa Project'). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.14sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786658981.33603382 seconds ×3 + 1.18sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.18sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.18sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.18sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.18sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.18sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.19sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.19sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.19sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.19sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.19sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.19sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.183569 ms (missed cycles : 2). + 1.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.183569 ms (missed cycles : 2).[0m ×2 + 1.76sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786658981.95932627 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.82sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786658982.01949716 seconds ×3 + 2.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.648168 ms (missed cycles : 4). + 2.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.648168 ms (missed cycles : 4).[0m ×2 + 2.48sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786658982.67854762 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.50sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786658982.69866109 seconds ×3 + 3.22sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786658983.41888142 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.37sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786658983.56966352 seconds ×3 + 3.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.556631 ms (missed cycles : 2). + 3.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.556631 ms (missed cycles : 2).[0m ×2 + 3.51sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 4.06sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786658984.25855422 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.08sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.08sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.10sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786658984.30869198 seconds ×3 + 4.71sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786658984.91084266 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.728162 ms (missed cycles : 2). + 4.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.728162 ms (missed cycles : 2).[0m ×2 + 4.72sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.73sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.73sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.73sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.83sINFOobjective_server_nodeFound path in 0 iterations (8.5289e-05 s). ×2 + 4.84sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.85sINFOros2_control_node[2026-08-13 22:09:45.047] [info] Received new action goal ×2 + 4.85sINFOros2_control_node[2026-08-13 22:09:45.047] [info] Accepted new action goal ×2 + 5.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.978946 ms (missed cycles : 2). + 5.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.978946 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | execute_mtc_solution_jtc.xml | 0.0s | 22 warnings · 219 info |
+ 0.00sINFOros2-4process has finished cleanly [pid 8991] ×2 + 0.08sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786658980.27589941 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 + 0.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.381597 ms (missed cycles : 3). + 0.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.381597 ms (missed cycles : 3).[0m ×2 + 0.98sWARNros2_control_nodeCamera render tick took 1.83 s (budget 0.100 s, EGL vendor 'Mesa Project'). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.14sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786658981.33603382 seconds ×3 + 1.18sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.18sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.18sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.18sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.18sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.18sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.19sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.19sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.19sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.19sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.19sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.19sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.183569 ms (missed cycles : 2). + 1.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.183569 ms (missed cycles : 2).[0m ×2 + 1.76sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786658981.95932627 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.82sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786658982.01949716 seconds ×3 + 2.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.648168 ms (missed cycles : 4). + 2.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.648168 ms (missed cycles : 4).[0m ×2 + 2.48sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786658982.67854762 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.50sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786658982.69866109 seconds ×3 + 3.22sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786658983.41888142 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.37sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786658983.56966352 seconds ×3 + 3.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.556631 ms (missed cycles : 2). + 3.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.556631 ms (missed cycles : 2).[0m ×2 + 3.51sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 4.06sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786658984.25855422 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.08sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.08sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.10sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786658984.30869198 seconds ×3 + 4.71sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786658984.91084266 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.728162 ms (missed cycles : 2). + 4.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.728162 ms (missed cycles : 2).[0m ×2 + 4.72sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.73sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.73sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.73sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.83sINFOobjective_server_nodeFound path in 0 iterations (8.5289e-05 s). ×2 + 4.84sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.85sINFOros2_control_node[2026-08-13 22:09:45.047] [info] Received new action goal ×2 + 4.85sINFOros2_control_node[2026-08-13 22:09:45.047] [info] Accepted new action goal ×2 + 5.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.978946 ms (missed cycles : 2). + 5.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.978946 ms (missed cycles : 2).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/mujoco1 pass
| ✓ passed | — | reset_mujoco_sim.xml | 0.6s | 25 warnings · 227 info |
+ 0.00sINFOros2-4process has finished cleanly [pid 8991] ×2 + 0.08sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786658980.27589941 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 + 0.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.381597 ms (missed cycles : 3). + 0.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.381597 ms (missed cycles : 3).[0m ×2 + 0.98sWARNros2_control_nodeCamera render tick took 1.83 s (budget 0.100 s, EGL vendor 'Mesa Project'). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.14sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786658981.33603382 seconds ×3 + 1.18sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.18sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.18sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.18sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.18sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.18sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.19sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.19sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.19sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.19sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.19sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.19sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.183569 ms (missed cycles : 2). + 1.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.183569 ms (missed cycles : 2).[0m ×2 + 1.76sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786658981.95932627 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.82sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786658982.01949716 seconds ×3 + 2.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.648168 ms (missed cycles : 4). + 2.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.648168 ms (missed cycles : 4).[0m ×2 + 2.48sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786658982.67854762 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.50sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786658982.69866109 seconds ×3 + 3.22sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786658983.41888142 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.37sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786658983.56966352 seconds ×3 + 3.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.556631 ms (missed cycles : 2). + 3.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.556631 ms (missed cycles : 2).[0m ×2 + 3.51sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 4.06sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786658984.25855422 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.08sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.08sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.10sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786658984.30869198 seconds ×3 + 4.71sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786658984.91084266 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.728162 ms (missed cycles : 2). + 4.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.728162 ms (missed cycles : 2).[0m ×2 + 4.72sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.73sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.73sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.73sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.83sINFOobjective_server_nodeFound path in 0 iterations (8.5289e-05 s). ×2 + 4.84sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.85sINFOros2_control_node[2026-08-13 22:09:45.047] [info] Received new action goal ×2 + 4.85sINFOros2_control_node[2026-08-13 22:09:45.047] [info] Accepted new action goal ×2 + 5.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.978946 ms (missed cycles : 2). + 5.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.978946 ms (missed cycles : 2).[0m ×2 + 6.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.620604 ms (missed cycles : 2). + 6.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.620604 ms (missed cycles : 2).[0m ×2 + 6.97sINFOros2_control_nodeMuJoCo sim: 0.21% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 7.24sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||
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/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/perception1 skip
| − skipped | — | get_imarker_pose_from_mesh_visualization.xml | 0.0s | 22 warnings · 219 info |
+ 0.00sINFOros2-4process has finished cleanly [pid 8991] ×2 + 0.08sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786658980.27589941 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 + 0.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.381597 ms (missed cycles : 3). + 0.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.381597 ms (missed cycles : 3).[0m ×2 + 0.98sWARNros2_control_nodeCamera render tick took 1.83 s (budget 0.100 s, EGL vendor 'Mesa Project'). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.14sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786658981.33603382 seconds ×3 + 1.18sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.18sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.18sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.18sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.18sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.18sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.19sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.19sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.19sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.19sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.19sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.19sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.183569 ms (missed cycles : 2). + 1.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.183569 ms (missed cycles : 2).[0m ×2 + 1.76sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786658981.95932627 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.82sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786658982.01949716 seconds ×3 + 2.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.648168 ms (missed cycles : 4). + 2.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.648168 ms (missed cycles : 4).[0m ×2 + 2.48sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786658982.67854762 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.50sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786658982.69866109 seconds ×3 + 3.22sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786658983.41888142 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.37sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786658983.56966352 seconds ×3 + 3.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.556631 ms (missed cycles : 2). + 3.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.556631 ms (missed cycles : 2).[0m ×2 + 3.51sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 4.06sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786658984.25855422 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.08sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.08sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.10sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786658984.30869198 seconds ×3 + 4.71sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786658984.91084266 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.728162 ms (missed cycles : 2). + 4.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.728162 ms (missed cycles : 2).[0m ×2 + 4.72sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.73sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.73sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.73sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.83sINFOobjective_server_nodeFound path in 0 iterations (8.5289e-05 s). ×2 + 4.84sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.85sINFOros2_control_node[2026-08-13 22:09:45.047] [info] Received new action goal ×2 + 4.85sINFOros2_control_node[2026-08-13 22:09:45.047] [info] Accepted new action goal ×2 + 5.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.978946 ms (missed cycles : 2). + 5.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.978946 ms (missed cycles : 2).[0m ×2 | ||||
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/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/visualization3 skip
| − skipped | — | interactive_marker_visualization.xml | 0.0s | 22 warnings · 219 info |
+ 0.00sINFOros2-4process has finished cleanly [pid 8991] ×2 + 0.08sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786658980.27589941 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 + 0.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.381597 ms (missed cycles : 3). + 0.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.381597 ms (missed cycles : 3).[0m ×2 + 0.98sWARNros2_control_nodeCamera render tick took 1.83 s (budget 0.100 s, EGL vendor 'Mesa Project'). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.14sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786658981.33603382 seconds ×3 + 1.18sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.18sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.18sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.18sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.18sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.18sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.19sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.19sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.19sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.19sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.19sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.19sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.183569 ms (missed cycles : 2). + 1.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.183569 ms (missed cycles : 2).[0m ×2 + 1.76sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786658981.95932627 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.82sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786658982.01949716 seconds ×3 + 2.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.648168 ms (missed cycles : 4). + 2.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.648168 ms (missed cycles : 4).[0m ×2 + 2.48sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786658982.67854762 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.50sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786658982.69866109 seconds ×3 + 3.22sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786658983.41888142 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.37sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786658983.56966352 seconds ×3 + 3.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.556631 ms (missed cycles : 2). + 3.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.556631 ms (missed cycles : 2).[0m ×2 + 3.51sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 4.06sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786658984.25855422 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.08sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.08sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.10sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786658984.30869198 seconds ×3 + 4.71sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786658984.91084266 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.728162 ms (missed cycles : 2). + 4.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.728162 ms (missed cycles : 2).[0m ×2 + 4.72sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.73sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.73sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.73sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.83sINFOobjective_server_nodeFound path in 0 iterations (8.5289e-05 s). ×2 + 4.84sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.85sINFOros2_control_node[2026-08-13 22:09:45.047] [info] Received new action goal ×2 + 4.85sINFOros2_control_node[2026-08-13 22:09:45.047] [info] Accepted new action goal ×2 + 5.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.978946 ms (missed cycles : 2). + 5.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.978946 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | interactive_marker_visualization_example.xml | 0.0s | 22 warnings · 219 info |
+ 0.00sINFOros2-4process has finished cleanly [pid 8991] ×2 + 0.08sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786658980.27589941 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 + 0.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.381597 ms (missed cycles : 3). + 0.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.381597 ms (missed cycles : 3).[0m ×2 + 0.98sWARNros2_control_nodeCamera render tick took 1.83 s (budget 0.100 s, EGL vendor 'Mesa Project'). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.14sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786658981.33603382 seconds ×3 + 1.18sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.18sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.18sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.18sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.18sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.18sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.19sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.19sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.19sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.19sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.19sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.19sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.183569 ms (missed cycles : 2). + 1.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.183569 ms (missed cycles : 2).[0m ×2 + 1.76sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786658981.95932627 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.82sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786658982.01949716 seconds ×3 + 2.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.648168 ms (missed cycles : 4). + 2.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.648168 ms (missed cycles : 4).[0m ×2 + 2.48sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786658982.67854762 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.50sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786658982.69866109 seconds ×3 + 3.22sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786658983.41888142 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.37sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786658983.56966352 seconds ×3 + 3.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.556631 ms (missed cycles : 2). + 3.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.556631 ms (missed cycles : 2).[0m ×2 + 3.51sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 4.06sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786658984.25855422 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.08sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.08sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.10sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786658984.30869198 seconds ×3 + 4.71sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786658984.91084266 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.728162 ms (missed cycles : 2). + 4.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.728162 ms (missed cycles : 2).[0m ×2 + 4.72sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.73sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.73sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.73sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.83sINFOobjective_server_nodeFound path in 0 iterations (8.5289e-05 s). ×2 + 4.84sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.85sINFOros2_control_node[2026-08-13 22:09:45.047] [info] Received new action goal ×2 + 4.85sINFOros2_control_node[2026-08-13 22:09:45.047] [info] Accepted new action goal ×2 + 5.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.978946 ms (missed cycles : 2). + 5.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.978946 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | visualize_tf.xml | 0.0s | 22 warnings · 219 info |
+ 0.00sINFOros2-4process has finished cleanly [pid 8991] ×2 + 0.08sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786658980.27589941 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 + 0.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.381597 ms (missed cycles : 3). + 0.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.381597 ms (missed cycles : 3).[0m ×2 + 0.98sWARNros2_control_nodeCamera render tick took 1.83 s (budget 0.100 s, EGL vendor 'Mesa Project'). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.14sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786658981.33603382 seconds ×3 + 1.18sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.18sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.18sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.18sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.18sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.18sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.19sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.19sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.19sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.19sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.19sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.19sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.183569 ms (missed cycles : 2). + 1.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.183569 ms (missed cycles : 2).[0m ×2 + 1.76sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786658981.95932627 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.82sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786658982.01949716 seconds ×3 + 2.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.648168 ms (missed cycles : 4). + 2.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.648168 ms (missed cycles : 4).[0m ×2 + 2.48sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786658982.67854762 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.50sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786658982.69866109 seconds ×3 + 3.22sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786658983.41888142 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.37sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786658983.56966352 seconds ×3 + 3.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.556631 ms (missed cycles : 2). + 3.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.556631 ms (missed cycles : 2).[0m ×2 + 3.51sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 4.06sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786658984.25855422 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.08sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.08sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.10sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786658984.30869198 seconds ×3 + 4.71sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786658984.91084266 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.728162 ms (missed cycles : 2). + 4.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.728162 ms (missed cycles : 2).[0m ×2 + 4.72sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.73sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.73sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.73sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.83sINFOobjective_server_nodeFound path in 0 iterations (8.5289e-05 s). ×2 + 4.84sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.85sINFOros2_control_node[2026-08-13 22:09:45.047] [info] Received new action goal ×2 + 4.85sINFOros2_control_node[2026-08-13 22:09:45.047] [info] Accepted new action goal ×2 + 5.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.978946 ms (missed cycles : 2). + 5.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.978946 ms (missed cycles : 2).[0m ×2 | ||||