117
Total objective tests
33
Objectives passed
0
Objectives failed
84
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 pass55 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 | 164 warnings · 19128 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.574138 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.574138 ms (missed cycles : 3).[0m ×2 + 0.19sINFOobjective_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 + 0.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 0.20sINFOcontroller_managerDeactivating controllers: [ velocity_force_controller ] + 0.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 0.20sINFOros2_control_nodeDeactivating controllers: [ velocity_force_controller ][0m ×2 + 0.20sINFOcontroller_managerDeactivated controllers: [ velocity_force_controller ] + 0.20sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 0.20sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.20sINFOros2_control_nodeDeactivated controllers: [ velocity_force_controller ][0m ×2 + 0.20sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 0.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.29sINFOobjective_server_nodeFound path in 0 iterations (4.25e-07 s). ×2 + 0.30sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 0.32sINFOros2_control_node[2026-08-26 00:39:42.928] [info] Received new action goal ×2 + 0.32sINFOros2_control_node[2026-08-26 00:39:42.928] [info] Accepted new action goal ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.054746 ms (missed cycles : 2). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.054746 ms (missed cycles : 2).[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.327319 ms (missed cycles : 4). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.327319 ms (missed cycles : 4).[0m ×2 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.708463 ms (missed cycles : 2). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.708463 ms (missed cycles : 2).[0m ×2 + 3.29sWARNros2_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 + 3.92sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1787704786.53337669 seconds ×3 + 3.93sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.93sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.93sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.94sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.94sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.95sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.95sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.95sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.95sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.259642 ms (missed cycles : 2). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.259642 ms (missed cycles : 2).[0m ×2 + 4.54sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1787704787.14807773 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.60sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×18 + 4.69sINFOobjective_server_nodeFound path in 0 iterations (3.26e-07 s). ×2 + 4.70sINFOobjective_server_nodePath shortcutter: [X___X] ×4 + 4.70sINFOros2_control_node[2026-08-26 00:39:47.312] [info] Received new action goal ×2 + 4.70sINFOros2_control_node[2026-08-26 00:39:47.312] [info] Accepted new action goal ×2 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.626980 ms (missed cycles : 4). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.626980 ms (missed cycles : 4).[0m ×2 + 5.97sINFOobjective_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 + 5.98sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 6.03sINFOobjective_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 + 6.03sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] ×2 + 6.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 6.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×4 + 6.04sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 6.04sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 6.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] ×2 + 6.04sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 6.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×4 + 6.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.010753 ms (missed cycles : 2). + 6.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.010753 ms (missed cycles : 2).[0m ×2 + 7.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.128601 ms (missed cycles : 2). + 7.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.128601 ms (missed cycles : 2).[0m ×2 + 8.21sINFOjoint_trajectory_controllerReceived new action goal ×3146 + 8.21sINFOjoint_trajectory_controllerAccepted new action goal ×3146 + 8.22sINFOros2_control_nodeReceived new action goal[0m ×6292 + 8.22sINFOros2_control_nodeAccepted new action goal[0m ×6292 + 8.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.705839 ms (missed cycles : 2). + 8.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.705839 ms (missed cycles : 2).[0m ×2 + 9.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.022040 ms (missed cycles : 2). + 9.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.022040 ms (missed cycles : 2).[0m ×2 + 10.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.130660 ms (missed cycles : 2). + 10.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.130660 ms (missed cycles : 2).[0m ×2 + 10.40sWARNros2_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 + 11.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.691252 ms (missed cycles : 2). + 11.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.691252 ms (missed cycles : 2).[0m ×2 + 12.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794568 ms (missed cycles : 2). + 12.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794568 ms (missed cycles : 2).[0m ×2 + 13.04sINFOjoint_trajectory_controllerGot request to cancel goal ×12 + 13.04sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. ×6 + 13.04sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×12 + 13.04sINFOros2_control_nodeGot request to cancel goal[0m ×24 + 13.04sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×12 + 13.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.531385 ms (missed cycles : 2). + 13.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.531385 ms (missed cycles : 2).[0m ×2 + 14.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.192692 ms (missed cycles : 2). + 14.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.192692 ms (missed cycles : 2).[0m ×2 + 15.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.891383 ms (missed cycles : 5). + 15.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.891383 ms (missed cycles : 5).[0m ×2 + 16.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879676 ms (missed cycles : 2). + 16.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879676 ms (missed cycles : 2).[0m ×2 + 17.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.693317 ms (missed cycles : 2). + 17.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.693317 ms (missed cycles : 2).[0m ×2 + 18.38sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.58 s); wrist_camera (1.58 s). The render path has stopped producing new frames for them.[0m ×2 + 18.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.377835 ms (missed cycles : 4). + 18.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.377835 ms (missed cycles : 4).[0m ×2 + 19.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.092497 ms (missed cycles : 2). + 19.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.092497 ms (missed cycles : 2).[0m ×2 + 20.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.780968 ms (missed cycles : 2). + 20.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.780968 ms (missed cycles : 2).[0m ×2 + 21.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.731397 ms (missed cycles : 2). + 21.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.731397 ms (missed cycles : 2).[0m ×2 + 22.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.786350 ms (missed cycles : 2). + 22.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.786350 ms (missed cycles : 2).[0m ×2 + 23.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.933375 ms (missed cycles : 2). + 23.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.933375 ms (missed cycles : 2).[0m ×2 + 24.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.255994 ms (missed cycles : 2). + 24.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.255994 ms (missed cycles : 2).[0m ×2 + 25.39sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.55 s); wrist_camera (1.55 s). The render path has stopped producing new frames for them.[0m ×2 + 25.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.263765 ms (missed cycles : 2). + 25.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.263765 ms (missed cycles : 2).[0m ×2 + 26.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.455432 ms (missed cycles : 2). + 26.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.455432 ms (missed cycles : 2).[0m ×2 + 27.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.060019 ms (missed cycles : 2). + 27.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.060019 ms (missed cycles : 2).[0m ×2 + 28.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.444787 ms (missed cycles : 3). + 28.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.444787 ms (missed cycles : 3).[0m ×2 + 30.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.255422 ms (missed cycles : 2). + 30.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.255422 ms (missed cycles : 2).[0m ×2 + 31.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.401634 ms (missed cycles : 2). + 31.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.401634 ms (missed cycles : 2).[0m ×2 + 32.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.801000 ms (missed cycles : 2). + 32.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.801000 ms (missed cycles : 2).[0m ×2 + 32.44sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.62 s); wrist_camera (1.62 s). The render path has stopped producing new frames for them.[0m ×2 + 33.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.475878 ms (missed cycles : 2). + 33.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.475878 ms (missed cycles : 2).[0m ×2 + 34.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.305824 ms (missed cycles : 2). + 34.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.305824 ms (missed cycles : 2).[0m ×2 + 35.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.707145 ms (missed cycles : 2). + 35.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.707145 ms (missed cycles : 2).[0m ×2 + 36.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.425327 ms (missed cycles : 2). + 36.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.425327 ms (missed cycles : 2).[0m ×2 + 37.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739170 ms (missed cycles : 2). + 37.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739170 ms (missed cycles : 2).[0m ×2 + 38.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.270653 ms (missed cycles : 2). + 38.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.270653 ms (missed cycles : 2).[0m ×2 + 39.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.161452 ms (missed cycles : 2). + 39.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.161452 ms (missed cycles : 2).[0m ×2 + 39.45sWARNros2_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 ×4 + 40.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.848090 ms (missed cycles : 2). + 40.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.848090 ms (missed cycles : 2).[0m ×2 + 41.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.163021 ms (missed cycles : 2). + 41.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.163021 ms (missed cycles : 2).[0m ×2 + 42.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.801685 ms (missed cycles : 2). + 42.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.801685 ms (missed cycles : 2).[0m ×2 + 43.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.250013 ms (missed cycles : 2). + 43.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.250013 ms (missed cycles : 2).[0m ×2 + 44.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.561237 ms (missed cycles : 3). + 44.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.561237 ms (missed cycles : 3).[0m ×2 + 45.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.344360 ms (missed cycles : 2). + 45.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.344360 ms (missed cycles : 2).[0m ×2 + 46.34sINFOros2_control_nodeMuJoCo sim: 0.36% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 46.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.489006 ms (missed cycles : 4). + 46.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.489006 ms (missed cycles : 4).[0m ×2 + 47.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.207815 ms (missed cycles : 2). + 47.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.207815 ms (missed cycles : 2).[0m ×2 + 48.35sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1787704830.95861936 seconds ×3 + 48.36sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 48.36sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 48.37sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 48.37sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 48.37sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 48.38sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 48.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.898905 ms (missed cycles : 2). + 48.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.898905 ms (missed cycles : 2).[0m ×2 + 48.99sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1787704831.60025454 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 49.03sINFOobjective_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 + 49.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 49.03sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 49.04sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 49.04sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 49.13sINFOobjective_server_nodeFound path in 0 iterations (3.11e-07 s). ×2 + 49.14sINFOros2_control_node[2026-08-26 00:40:31.745] [info] Received new action goal ×2 + 49.14sINFOros2_control_node[2026-08-26 00:40:31.745] [info] Accepted new action goal ×2 + 49.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.950129 ms (missed cycles : 2). + 49.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.950129 ms (missed cycles : 2).[0m ×2 + 50.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.971202 ms (missed cycles : 7). + 50.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.971202 ms (missed cycles : 7).[0m ×2 | ||||
| ✓ passed | Move Flasks to Burners | move_flasks_to_burners.xml | 42.9s | 154 warnings · 293 info |
+ 0.00sINFOobjective_server_node[2026-08-26 00:38:48.807] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 0.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.169397 ms (missed cycles : 2). + 0.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.169397 ms (missed cycles : 2).[0m ×2 + 0.53sINFOobjective_server_node[0;93m2026-08-26 00:38:49.341167829 [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 + 0.53sINFOobjective_server_node[0;93m2026-08-26 00:38:49.341203590 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 0.70sINFOobjective_server_node[2026-08-26 00:38:49.511] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 0.76sINFOobjective_server_node[0;93m2026-08-26 00:38:49.565634729 [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 + 0.76sINFOobjective_server_node[0;93m2026-08-26 00:38:49.569797775 [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 + 0.76sINFOobjective_server_node[0;93m2026-08-26 00:38:49.569824723 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 0.84sINFOobjective_server_node[2026-08-26 00:38:49.648] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.23sINFOobjective_server_node[0;93m2026-08-26 00:38:50.035227057 [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 + 1.26sINFOobjective_server_node[0;93m2026-08-26 00:38:50.062142533 [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 + 1.26sINFOobjective_server_node[0;93m2026-08-26 00:38:50.062183858 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.513342 ms (missed cycles : 3). + 1.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.513342 ms (missed cycles : 3).[0m ×2 + 2.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.043571 ms (missed cycles : 2). + 2.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.043571 ms (missed cycles : 2).[0m ×2 + 2.86sWARNros2_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 ×4 + 3.09sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1787704731.89526582 seconds ×3 + 3.17sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.17sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.17sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.17sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.18sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.18sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.18sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.18sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.19sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.19sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.19sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.191080 ms (missed cycles : 4). + 3.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.191080 ms (missed cycles : 4).[0m ×2 + 3.78sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1787704732.58832550 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.78sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×6 + 3.78sINFOros2_control_nodeReceived & accepted new action goal[0m ×12 + 3.86sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.87sINFOobjective_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 + 4.15sINFOobjective_server_nodeFound path in 0 iterations (3.22e-07 s). ×2 + 4.16sINFOobjective_server_nodePath shortcutter: [X____________X] ×6 + 4.18sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×21 + 4.20sINFOros2_control_node[2026-08-26 00:38:53.005] [info] Received new action goal ×2 + 4.20sINFOros2_control_node[2026-08-26 00:38:53.005] [info] Accepted new action goal ×2 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.957973 ms (missed cycles : 2). + 4.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.957973 ms (missed cycles : 2).[0m ×2 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.711771 ms (missed cycles : 2). + 5.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.711771 ms (missed cycles : 2).[0m ×2 + 6.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.174201 ms (missed cycles : 4). + 6.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.174201 ms (missed cycles : 4).[0m ×2 + 7.05sINFOobjective_server_nodeFound path in 0 iterations (3.69e-07 s). ×2 + 7.07sINFOros2_control_node[2026-08-26 00:38:55.873] [info] Received new action goal ×2 + 7.07sINFOros2_control_node[2026-08-26 00:38:55.873] [info] Accepted new action goal ×2 + 7.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.814138 ms (missed cycles : 5). + 7.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.814138 ms (missed cycles : 5).[0m ×2 + 7.95sWARNros2_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 + 8.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.395721 ms (missed cycles : 2). + 8.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.395721 ms (missed cycles : 2).[0m ×2 + 9.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.657357 ms (missed cycles : 4). + 9.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.657357 ms (missed cycles : 4).[0m ×2 + 10.22sINFOobjective_server_nodePlanning for 2 path waypoints. ×12 + 10.25sINFOros2_control_node[2026-08-26 00:38:59.052] [info] Received new action goal ×2 + 10.25sINFOros2_control_node[2026-08-26 00:38:59.052] [info] Accepted new action goal ×2 + 10.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.628147 ms (missed cycles : 3). + 10.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.628147 ms (missed cycles : 3).[0m ×2 + 11.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.845729 ms (missed cycles : 2). + 11.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.845729 ms (missed cycles : 2).[0m ×2 + 12.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.660294 ms (missed cycles : 7). + 12.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.660294 ms (missed cycles : 7).[0m ×2 + 13.21sINFOobjective_server_nodeFound path in 0 iterations (2.87e-07 s). ×2 + 13.22sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 13.27sINFOros2_control_node[2026-08-26 00:39:02.075] [info] Received new action goal ×2 + 13.27sINFOros2_control_node[2026-08-26 00:39:02.075] [info] Accepted new action goal ×2 + 13.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.260639 ms (missed cycles : 2). + 13.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.260639 ms (missed cycles : 2).[0m ×2 + 13.99sWARNros2_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 + 14.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.333316 ms (missed cycles : 4). + 14.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.333316 ms (missed cycles : 4).[0m ×2 + 16.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.256858 ms (missed cycles : 2). + 16.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.256858 ms (missed cycles : 2).[0m ×2 + 16.23sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×6 + 16.23sINFOcontroller_managerActivating controllers: [ velocity_force_controller ] ×2 + 16.23sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 16.24sINFOros2_control_nodeActivating controllers: [ velocity_force_controller ][0m ×4 + 16.24sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 16.24sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 16.24sINFOcontroller_managerActivated controllers: [ velocity_force_controller ] ×2 + 16.24sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 16.24sINFOros2_control_nodeActivated controllers: [ velocity_force_controller ][0m ×4 + 17.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.569963 ms (missed cycles : 3). + 17.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.569963 ms (missed cycles : 3).[0m ×2 + 18.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.940748 ms (missed cycles : 6). + 18.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.940748 ms (missed cycles : 6).[0m ×2 + 19.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.833572 ms (missed cycles : 2). + 19.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.833572 ms (missed cycles : 2).[0m ×2 + 20.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.683069 ms (missed cycles : 3). + 20.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.683069 ms (missed cycles : 3).[0m ×2 + 20.92sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.31 s); wrist_camera (1.31 s). The render path has stopped producing new frames for them.[0m ×2 + 21.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.187613 ms (missed cycles : 2). + 21.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.187613 ms (missed cycles : 2).[0m ×2 + 22.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.827663 ms (missed cycles : 2). + 22.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.827663 ms (missed cycles : 2).[0m ×2 + 23.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.472303 ms (missed cycles : 4). + 23.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.472303 ms (missed cycles : 4).[0m ×2 + 23.77sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: velocity_force_controller ×6 + 23.77sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 23.77sINFOcontroller_managerDeactivating controllers: [ velocity_force_controller ] ×2 + 23.77sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 23.77sINFOros2_control_nodeDeactivating controllers: [ velocity_force_controller ][0m ×4 + 23.77sINFOcontroller_managerDeactivated controllers: [ velocity_force_controller ] ×2 + 23.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 23.78sINFOros2_control_nodeDeactivated controllers: [ velocity_force_controller ][0m ×4 + 23.78sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 24.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.688834 ms (missed cycles : 4). + 24.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.688834 ms (missed cycles : 4).[0m ×2 + 24.66sINFOros2_control_node[2026-08-26 00:39:13.463] [info] Received new action goal ×2 + 24.66sINFOros2_control_node[2026-08-26 00:39:13.463] [info] Accepted new action goal ×2 + 25.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.953140 ms (missed cycles : 5). + 25.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.953140 ms (missed cycles : 5).[0m ×2 + 25.85sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.501662224630075;y=0.473544122163861;z=0.5757551197465615, orientation: x=-0.0003208404100914391;y=0.9949830911508987;z=0.10003957719337829;w=-0.0007927043609334042 ×3 + 25.86sINFOobjective_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 + 26.14sINFOobjective_server_nodeFound path in 0 iterations (7.43e-07 s). ×2 + 26.18sINFOros2_control_node[2026-08-26 00:39:14.986] [info] Received new action goal ×2 + 26.18sINFOros2_control_node[2026-08-26 00:39:14.986] [info] Accepted new action goal ×2 + 26.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.618433 ms (missed cycles : 6). + 26.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.618433 ms (missed cycles : 6).[0m ×2 + 27.14sWARNros2_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 ×4 + 27.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.823674 ms (missed cycles : 3). + 27.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.823674 ms (missed cycles : 3).[0m ×2 + 28.47sINFOobjective_server_nodeFound path in 0 iterations (4.84e-07 s). ×2 + 28.48sINFOobjective_server_nodePath shortcutter: [X__________X] ×2 + 28.50sINFOros2_control_node[2026-08-26 00:39:17.304] [info] Received new action goal ×2 + 28.50sINFOros2_control_node[2026-08-26 00:39:17.304] [info] Accepted new action goal ×2 + 29.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.212883 ms (missed cycles : 5). + 29.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.212883 ms (missed cycles : 5).[0m ×2 + 30.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.628039 ms (missed cycles : 3). + 30.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.628039 ms (missed cycles : 3).[0m ×2 + 31.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.665106 ms (missed cycles : 3). + 31.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.665106 ms (missed cycles : 3).[0m ×2 + 31.54sINFOros2_control_node[2026-08-26 00:39:20.342] [info] Received new action goal ×2 + 31.54sINFOros2_control_node[2026-08-26 00:39:20.342] [info] Accepted new action goal ×2 + 32.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.952966 ms (missed cycles : 2). + 32.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.952966 ms (missed cycles : 2).[0m ×2 + 33.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.023008 ms (missed cycles : 3). + 33.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.023008 ms (missed cycles : 3).[0m ×2 + 34.13sINFOobjective_server_nodeFound path in 0 iterations (3.16e-07 s). ×2 + 34.13sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 34.18sINFOros2_control_node[2026-08-26 00:39:22.985] [info] Received new action goal ×2 + 34.18sINFOros2_control_node[2026-08-26 00:39:22.985] [info] Accepted new action goal ×2 + 34.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.878684 ms (missed cycles : 2). + 34.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.878684 ms (missed cycles : 2).[0m ×2 + 35.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.270821 ms (missed cycles : 2). + 35.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.270821 ms (missed cycles : 2).[0m ×2 + 36.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.250538 ms (missed cycles : 2). + 36.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.250538 ms (missed cycles : 2).[0m ×2 + 37.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.820610 ms (missed cycles : 3). + 37.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.820610 ms (missed cycles : 3).[0m ×2 + 38.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.698328 ms (missed cycles : 2). + 38.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.698328 ms (missed cycles : 2).[0m ×2 + 39.03sWARNros2_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 + 39.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.338561 ms (missed cycles : 3). + 39.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.338561 ms (missed cycles : 3).[0m ×2 + 40.14sINFOros2_control_nodeMuJoCo sim: 0.34% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 41.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.207169 ms (missed cycles : 3). + 41.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.207169 ms (missed cycles : 3).[0m ×2 + 42.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.487793 ms (missed cycles : 5). + 42.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.487793 ms (missed cycles : 5).[0m ×2 + 43.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.075226 ms (missed cycles : 2). + 43.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.075226 ms (missed cycles : 2).[0m ×2 + 44.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.790646 ms (missed cycles : 5). + 44.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.790646 ms (missed cycles : 5).[0m ×2 + 44.87sINFOros2_control_node[2026-08-26 00:39:33.672] [info] Received new action goal ×2 + 44.87sINFOros2_control_node[2026-08-26 00:39:33.672] [info] Accepted new action goal ×2 + 45.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.527458 ms (missed cycles : 2). + 45.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.527458 ms (missed cycles : 2).[0m ×2 + 46.02sINFOobjective_server_nodeObjective `Move Flasks to Burners` succeeded at time: 1787704774.82855654 seconds ×3 + 46.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.041463 ms (missed cycles : 4). + 46.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.041463 ms (missed cycles : 4).[0m ×2 + 46.84sINFOobjective_server_nodeObjective `Push Button` starting at time: 1787704775.64318776 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 47.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.906540 ms (missed cycles : 5). + 47.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.906540 ms (missed cycles : 5).[0m ×2 + 48.00sINFOobjective_server_nodeFound path in 0 iterations (3.79e-07 s). ×2 + 48.01sINFOobjective_server_nodePath shortcutter: [X__________________________X] ×2 + 48.02sINFOros2_control_node[2026-08-26 00:39:36.828] [info] Received new action goal ×2 + 48.02sINFOros2_control_node[2026-08-26 00:39:36.828] [info] Accepted new action goal ×2 + 48.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.476071 ms (missed cycles : 3). + 48.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.476071 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Pick 1 Pill Bottle with SAM3 | pick_1_pill_bottle_with_sam3.xml | 30.1s | 114 warnings · 2663 info |
+ 0.00sINFOros2_control_nodeAccepted new action goal[0m ×818 + 0.01sINFOjoint_trajectory_controllerReceived new action goal ×408 + 0.01sINFOjoint_trajectory_controllerAccepted new action goal ×408 + 0.01sINFOros2_control_nodeReceived new action goal[0m ×816 + 0.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.137317 ms (missed cycles : 2). + 0.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.137317 ms (missed cycles : 2).[0m ×2 + 1.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.879724 ms (missed cycles : 2). + 1.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.879724 ms (missed cycles : 2).[0m ×2 + 2.83sWARNros2_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 + 2.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.130052 ms (missed cycles : 3). + 2.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.130052 ms (missed cycles : 3).[0m ×2 + 3.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679200 ms (missed cycles : 2). + 3.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679200 ms (missed cycles : 2).[0m ×2 + 3.94sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1787704853.06992388 seconds ×3 + 3.95sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.95sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.95sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.95sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.96sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.96sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.96sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.96sINFOcontroller_managerSuccessfully switched controllers! ×5 + 3.96sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.96sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 3.96sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.97sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.97sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.97sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.97sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.58sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` starting at time: 1787704853.70565748 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.58sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×4 + 4.58sINFOros2_control_nodeReceived & accepted new action goal[0m ×8 + 4.65sINFOobjective_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 + 4.65sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.65sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.65sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.65sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.65sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.65sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.65sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.65sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.76sINFOobjective_server_nodeFound path in 5 iterations (0.00630923 s). ×2 + 4.83sINFOobjective_server_nodePath shortcutter: [X______________________________X_________________________________X] ×2 + 4.85sINFOros2_control_node[2026-08-26 00:40:53.971] [info] Received new action goal ×2 + 4.85sINFOros2_control_node[2026-08-26 00:40:53.971] [info] Accepted new action goal ×2 + 4.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.575114 ms (missed cycles : 4). + 4.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.575114 ms (missed cycles : 4).[0m ×2 + 6.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.169904 ms (missed cycles : 7). + 6.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.169904 ms (missed cycles : 7).[0m ×2 + 7.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.561510 ms (missed cycles : 2). + 7.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.561510 ms (missed cycles : 2).[0m ×2 + 8.38sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.06 s); wrist_camera (1.06 s). The render path has stopped producing new frames for them.[0m ×2 + 8.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.159836 ms (missed cycles : 4). + 8.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.159836 ms (missed cycles : 4).[0m ×2 + 9.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.611567 ms (missed cycles : 4). + 9.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.611567 ms (missed cycles : 4).[0m ×2 + 10.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.487260 ms (missed cycles : 2). + 10.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.487260 ms (missed cycles : 2).[0m ×2 + 11.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.273690 ms (missed cycles : 7). + 11.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.273690 ms (missed cycles : 7).[0m ×2 + 12.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.180888 ms (missed cycles : 7). + 12.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.180888 ms (missed cycles : 7).[0m ×2 + 13.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.859911 ms (missed cycles : 2). + 13.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.859911 ms (missed cycles : 2).[0m ×2 + 14.49sWARNros2_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 + 14.62sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×4 + 14.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.573892 ms (missed cycles : 2). + 14.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.573892 ms (missed cycles : 2).[0m ×2 + 15.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.288319 ms (missed cycles : 2). + 15.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.288319 ms (missed cycles : 2).[0m ×2 + 17.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.160329 ms (missed cycles : 2). + 17.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.160329 ms (missed cycles : 2).[0m ×2 + 18.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.544889 ms (missed cycles : 4). + 18.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.544889 ms (missed cycles : 4).[0m ×2 + 19.06sINFOobjective_server_nodeFound path in 4 iterations (0.00317013 s). ×2 + 19.15sINFOobjective_server_nodePath shortcutter: [X______________________________________________X____________________X] ×2 + 19.18sINFOobjective_server_nodeFound path in 14 iterations (0.00697625 s). ×2 + 19.22sINFOobjective_server_nodePath shortcutter: [X_________________________X_____________X_______________X] ×2 + 19.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.044019 ms (missed cycles : 4). + 19.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.044019 ms (missed cycles : 4).[0m ×2 + 19.26sINFOobjective_server_nodeFound path in 2 iterations (0.00436541 s). ×2 + 19.30sINFOobjective_server_nodePath shortcutter: [X______________________________X___________________X] ×2 + 19.32sINFOobjective_server_nodeFound path in 0 iterations (2.29e-07 s). ×2 + 19.36sINFOobjective_server_nodePath shortcutter: [X____________________________________X] ×2 + 19.38sINFOobjective_server_nodeFound path in 0 iterations (3.09e-07 s). ×2 + 19.42sINFOobjective_server_nodePath shortcutter: [X_____________________________________X] ×2 + 19.44sINFOobjective_server_nodeFound path in 12 iterations (0.00528184 s). ×2 + 19.50sINFOobjective_server_nodePath shortcutter: [X__________________________________________X_____________________X] ×2 + 19.53sINFOobjective_server_nodeFound path in 1 iterations (0.00472998 s). ×2 + 19.59sINFOobjective_server_nodePath shortcutter: [X_______________________________X_____________________X] ×2 + 19.62sINFOobjective_server_nodeFound path in 0 iterations (3.68e-07 s). ×2 + 19.68sINFOobjective_server_nodePath shortcutter: [X__________________________________________X] ×2 + 19.71sINFOobjective_server_nodeFound path in 4 iterations (0.00506523 s). ×2 + 19.80sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________X______________X] ×2 + 19.83sINFOobjective_server_nodeFound path in 4 iterations (0.00326204 s). ×2 + 19.89sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.31 s); wrist_camera (1.31 s). The render path has stopped producing new frames for them.[0m ×2 + 19.94sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X______________________X] ×2 + 19.98sINFOobjective_server_nodeFound path in 1 iterations (0.00686925 s). ×2 + 20.05sINFOobjective_server_nodePath shortcutter: [X__________________________________X_____________________________X] ×2 + 20.07sINFOobjective_server_nodeFound path in 0 iterations (3.57e-07 s). ×2 + 20.12sINFOobjective_server_nodePath shortcutter: [X_________________________________________________X] ×2 + 20.14sINFOobjective_server_nodeFound path in 1 iterations (0.00324365 s). ×2 + 20.23sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________X________________________X] ×2 + 20.25sINFOobjective_server_nodeFound path in 0 iterations (3.81e-07 s). ×2 + 20.33sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________________X] ×2 + 20.36sINFOobjective_server_nodeFound path in 0 iterations (3.75e-07 s). ×2 + 20.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.170234 ms (missed cycles : 2). + 20.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.170234 ms (missed cycles : 2).[0m ×2 + 20.47sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X] ×2 + 20.50sINFOobjective_server_nodeFound path in 0 iterations (3.55e-07 s). ×2 + 20.65sINFOobjective_server_nodePath shortcutter: [X____________________________________________________________________________________________X] ×2 + 20.86sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 20.88sINFOros2_control_node[2026-08-26 00:41:10.004] [info] Received new action goal ×2 + 20.88sINFOros2_control_node[2026-08-26 00:41:10.004] [info] Accepted new action goal ×2 + 21.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.241170 ms (missed cycles : 5). + 21.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.241170 ms (missed cycles : 5).[0m ×2 + 22.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.479715 ms (missed cycles : 2). + 22.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.479715 ms (missed cycles : 2).[0m ×2 + 23.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.867275 ms (missed cycles : 5). + 23.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.867275 ms (missed cycles : 5).[0m ×2 + 24.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.528919 ms (missed cycles : 6). + 24.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.528919 ms (missed cycles : 6).[0m ×2 + 25.61sWARNros2_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 + 25.87sINFOros2_control_node[2026-08-26 00:41:14.997] [info] Received new action goal ×2 + 25.87sINFOros2_control_node[2026-08-26 00:41:14.997] [info] Accepted new action goal ×2 + 25.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.965522 ms (missed cycles : 5). + 25.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.965522 ms (missed cycles : 5).[0m ×2 + 27.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.293339 ms (missed cycles : 2). + 27.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.293339 ms (missed cycles : 2).[0m ×2 + 27.59sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 27.61sINFOros2_control_node[2026-08-26 00:41:16.732] [info] Received new action goal ×2 + 27.61sINFOros2_control_node[2026-08-26 00:41:16.732] [info] Accepted new action goal ×2 + 28.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.485114 ms (missed cycles : 3). + 28.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.485114 ms (missed cycles : 3).[0m ×2 + 28.81sINFOobjective_server_nodePlanning for 4 path waypoints. ×3 + 28.85sINFOros2_control_node[2026-08-26 00:41:17.971] [info] Received new action goal ×2 + 28.85sINFOros2_control_node[2026-08-26 00:41:17.971] [info] Accepted new action goal ×2 + 29.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.741330 ms (missed cycles : 4). + 29.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.741330 ms (missed cycles : 4).[0m ×2 + 30.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.246589 ms (missed cycles : 7). + 30.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.246589 ms (missed cycles : 7).[0m ×2 + 31.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.083347 ms (missed cycles : 2). + 31.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.083347 ms (missed cycles : 2).[0m ×2 + 31.61sWARNros2_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 + 32.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.696037 ms (missed cycles : 2). + 32.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.696037 ms (missed cycles : 2).[0m ×2 + 33.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.256899 ms (missed cycles : 3). + 33.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.256899 ms (missed cycles : 3).[0m ×2 + 34.05sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` succeeded at time: 1787704883.17586827 seconds ×3 + 34.10sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 34.10sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 34.10sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 34.11sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 34.11sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 34.11sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 34.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.908188 ms (missed cycles : 5). + 34.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.908188 ms (missed cycles : 5).[0m ×2 + 34.76sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1787704883.88537288 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 34.98sINFOobjective_server_nodeFound path in 0 iterations (2.41e-07 s). ×2 + 34.98sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 34.99sINFOros2_control_node[2026-08-26 00:41:24.119] [info] Received new action goal ×2 + 34.99sINFOros2_control_node[2026-08-26 00:41:24.119] [info] Accepted new action goal ×2 + 35.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.045251 ms (missed cycles : 5). + 35.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.045251 ms (missed cycles : 5).[0m ×2 + 36.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.383138 ms (missed cycles : 2). + 36.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.383138 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 · 13774 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×2269 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×2269 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×4538 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×4538 + 0.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.561237 ms (missed cycles : 3). + 0.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.561237 ms (missed cycles : 3).[0m ×2 + 1.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.344360 ms (missed cycles : 2). + 1.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.344360 ms (missed cycles : 2).[0m ×2 + 1.93sINFOros2_control_nodeMuJoCo sim: 0.36% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.489006 ms (missed cycles : 4). + 2.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.489006 ms (missed cycles : 4).[0m ×2 + 2.89sWARNros2_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 ×4 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.207815 ms (missed cycles : 2). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.207815 ms (missed cycles : 2).[0m ×2 + 3.94sINFOjoint_trajectory_controllerGot request to cancel goal ×4 + 3.94sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. ×2 + 3.94sINFOros2_control_nodeGot request to cancel goal[0m ×8 + 3.94sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×4 + 3.94sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1787704830.95861936 seconds ×3 + 3.95sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×2 + 3.95sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×4 + 3.95sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.95sINFOcontroller_managerSuccessfully switched controllers! ×7 + 3.95sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.95sINFOros2_control_nodeSuccessfully switched controllers![0m ×14 + 3.96sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.96sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.96sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×2 + 3.96sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×4 + 3.96sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×2 + 3.96sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×4 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.898905 ms (missed cycles : 2). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.898905 ms (missed cycles : 2).[0m ×2 + 4.58sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1787704831.60025454 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.62sINFOobjective_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 + 4.62sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 4.62sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] ×2 + 4.62sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] ×2 + 4.62sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 4.62sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 4.63sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×4 + 4.63sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×4 + 4.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 4.71sINFOobjective_server_nodeFound path in 0 iterations (3.11e-07 s). ×2 + 4.72sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.73sINFOros2_control_node[2026-08-26 00:40:31.745] [info] Received new action goal ×2 + 4.73sINFOros2_control_node[2026-08-26 00:40:31.745] [info] Accepted new action goal ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.950129 ms (missed cycles : 2). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.950129 ms (missed cycles : 2).[0m ×2 + 5.97sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×2 + 6.03sINFOobjective_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 + 6.04sINFOobjective_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 + 6.05sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.05sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] + 6.05sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.05sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.05sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] + 6.05sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 6.05sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.05sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.971202 ms (missed cycles : 7). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.971202 ms (missed cycles : 7).[0m ×2 + 7.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.213234 ms (missed cycles : 2). + 7.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.213234 ms (missed cycles : 2).[0m ×2 + 8.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.683232 ms (missed cycles : 2). + 8.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.683232 ms (missed cycles : 2).[0m ×2 + 9.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.523829 ms (missed cycles : 4). + 9.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.523829 ms (missed cycles : 4).[0m ×2 + 10.07sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.52 s); wrist_camera (1.52 s). The render path has stopped producing new frames for them.[0m ×2 + 10.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.676771 ms (missed cycles : 2). + 10.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.676771 ms (missed cycles : 2).[0m ×2 + 11.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.359984 ms (missed cycles : 2). + 11.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.359984 ms (missed cycles : 2).[0m ×2 + 12.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.760414 ms (missed cycles : 2). + 12.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.760414 ms (missed cycles : 2).[0m ×2 + 13.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.039761 ms (missed cycles : 2). + 13.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.039761 ms (missed cycles : 2).[0m ×2 + 14.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.865891 ms (missed cycles : 2). + 14.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.865891 ms (missed cycles : 2).[0m ×2 + 15.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.027026 ms (missed cycles : 2). + 15.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.027026 ms (missed cycles : 2).[0m ×2 + 16.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.711462 ms (missed cycles : 2). + 16.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.711462 ms (missed cycles : 2).[0m ×2 + 17.09sWARNros2_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 + 17.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.765661 ms (missed cycles : 2). + 17.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.765661 ms (missed cycles : 2).[0m ×2 + 18.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.451752 ms (missed cycles : 2). + 18.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.451752 ms (missed cycles : 2).[0m ×2 + 19.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.669712 ms (missed cycles : 2). + 19.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.669712 ms (missed cycles : 2).[0m ×2 + 20.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.732918 ms (missed cycles : 2). + 20.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.732918 ms (missed cycles : 2).[0m ×2 + 21.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.082143 ms (missed cycles : 2). + 21.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.082143 ms (missed cycles : 2).[0m ×2 + 22.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.137317 ms (missed cycles : 2). + 22.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.137317 ms (missed cycles : 2).[0m ×2 + 23.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.879724 ms (missed cycles : 2). + 23.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.879724 ms (missed cycles : 2).[0m ×2 + 25.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.130052 ms (missed cycles : 3). + 25.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.130052 ms (missed cycles : 3).[0m ×2 + 26.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679200 ms (missed cycles : 2). + 26.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679200 ms (missed cycles : 2).[0m ×2 + 26.05sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1787704853.06992388 seconds ×3 + 26.69sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` starting at time: 1787704853.70565748 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 26.69sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 26.69sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 26.87sINFOobjective_server_nodeFound path in 5 iterations (0.00630923 s). ×2 + 26.94sINFOobjective_server_nodePath shortcutter: [X______________________________X_________________________________X] ×2 + 26.95sINFOros2_control_node[2026-08-26 00:40:53.971] [info] Received new action goal ×2 + 26.95sINFOros2_control_node[2026-08-26 00:40:53.971] [info] Accepted new action goal ×2 + 27.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.575114 ms (missed cycles : 4). + 27.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.575114 ms (missed cycles : 4).[0m ×2 + 28.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.169904 ms (missed cycles : 7). + 28.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.169904 ms (missed cycles : 7).[0m ×2 | ||||
| ✓ passed | Pick April Tag Labeled Object | apriltag_pick_object.xml | 16.6s | 3 errors · 74 warnings · 207 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.635281 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.635281 ms (missed cycles : 4).[0m ×2 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.586714 ms (missed cycles : 7). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.586714 ms (missed cycles : 7).[0m ×2 + 1.85sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 1.94sINFOobjective_server_nodeFound path in 0 iterations (3.14e-07 s). ×2 + 1.95sINFOobjective_server_nodePath shortcutter: [X_________________X] ×4 + 1.96sINFOros2_control_node[2026-08-26 00:37:36.307] [info] Received new action goal ×2 + 1.96sINFOros2_control_node[2026-08-26 00:37:36.307] [info] Accepted new action goal ×2 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.114367 ms (missed cycles : 5). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.114367 ms (missed cycles : 5).[0m ×2 + 2.46sWARNros2_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 + 2.63sINFOobjective_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 + 2.63sINFOros2_control_node[2026-08-26 00:37:36.973] [info] Got request to cancel active goal. ×2 + 2.63sINFOros2_control_node[2026-08-26 00:37:36.973] [info] Canceling active goal... ×2 + 2.64sERRORobjective_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: 1787704656.98841500 seconds ×3 + 2.70sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.70sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 2.70sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.70sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.71sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 2.71sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.71sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.71sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.72sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.72sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.72sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.72sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.29sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1787704657.63606811 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.40sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1787704657.74620533 seconds ×3 + 3.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668424 ms (missed cycles : 2). + 3.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668424 ms (missed cycles : 2).[0m ×2 + 4.03sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1787704658.37369323 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.03sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 4.03sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 4.22sINFOobjective_server_nodeFound path in 0 iterations (5.87e-07 s). ×2 + 4.22sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.23sINFOros2_control_node[2026-08-26 00:37:38.578] [info] Received new action goal ×2 + 4.23sINFOros2_control_node[2026-08-26 00:37:38.578] [info] Accepted new action goal ×2 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.211649 ms (missed cycles : 2). + 4.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.211649 ms (missed cycles : 2).[0m ×2 + 5.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.059816 ms (missed cycles : 2). + 5.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.059816 ms (missed cycles : 2).[0m ×2 + 6.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.806916 ms (missed cycles : 2). + 6.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.806916 ms (missed cycles : 2).[0m ×2 + 7.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.875280 ms (missed cycles : 5). + 7.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.875280 ms (missed cycles : 5).[0m ×2 + 8.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.780655 ms (missed cycles : 2). + 8.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.780655 ms (missed cycles : 2).[0m ×2 + 9.28sWARNros2_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 + 9.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.050564 ms (missed cycles : 2). + 9.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.050564 ms (missed cycles : 2).[0m ×2 + 11.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.685992 ms (missed cycles : 2). + 11.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.685992 ms (missed cycles : 2).[0m ×2 + 12.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.890558 ms (missed cycles : 3). + 12.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.890558 ms (missed cycles : 3).[0m ×2 + 13.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.340124 ms (missed cycles : 5). + 13.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.340124 ms (missed cycles : 5).[0m ×2 + 13.63sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 13.63sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 ×2 + 13.63sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 13.91sINFOobjective_server_nodeFound path in 0 iterations (2.12e-07 s). ×2 + 13.92sINFOobjective_server_nodePath shortcutter: [X__________X] ×2 + 13.93sINFOobjective_server_nodeFound path in 0 iterations (7.04e-07 s). ×2 + 13.96sINFOobjective_server_nodeFound path in 0 iterations (3.04e-07 s). ×2 + 14.00sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X] ×2 + 14.03sINFOobjective_server_nodeFound path in 1 iterations (0.00297825 s). ×2 + 14.12sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X_____________X] ×2 + 14.21sINFOros2_control_node[2026-08-26 00:37:48.553] [info] Received new action goal ×2 + 14.21sINFOros2_control_node[2026-08-26 00:37:48.553] [info] Accepted new action goal ×2 + 14.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.440893 ms (missed cycles : 4). + 14.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.440893 ms (missed cycles : 4).[0m ×2 + 15.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.119083 ms (missed cycles : 2). + 15.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.119083 ms (missed cycles : 2).[0m ×2 + 16.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.360012 ms (missed cycles : 6). + 16.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.360012 ms (missed cycles : 6).[0m ×2 + 16.68sINFOros2_control_node[2026-08-26 00:37:51.026] [info] Received new action goal ×2 + 16.68sINFOros2_control_node[2026-08-26 00:37:51.026] [info] Accepted new action goal ×2 + 17.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.170394 ms (missed cycles : 2). + 17.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.170394 ms (missed cycles : 2).[0m ×2 + 18.58sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 18.59sINFOros2_control_node[2026-08-26 00:37:52.937] [info] Received new action goal ×2 + 18.59sINFOros2_control_node[2026-08-26 00:37:52.937] [info] Accepted new action goal ×2 + 18.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.519845 ms (missed cycles : 2). + 18.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.519845 ms (missed cycles : 2).[0m ×2 + 19.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.213313 ms (missed cycles : 2). + 19.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.213313 ms (missed cycles : 2).[0m ×2 + 19.98sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1787704674.32440400 seconds ×3 + 20.61sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1787704674.95295930 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 20.70sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1787704675.04309464 seconds ×3 + 20.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.286458 ms (missed cycles : 4). + 20.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.286458 ms (missed cycles : 4).[0m ×2 + 21.35sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1787704675.69568872 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 21.42sWARNros2_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 + 21.47sINFOobjective_server_nodeFound path in 0 iterations (3.43e-07 s). ×2 + 21.47sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 21.49sINFOros2_control_node[2026-08-26 00:37:55.830] [info] Received new action goal ×2 + 21.49sINFOros2_control_node[2026-08-26 00:37:55.830] [info] Accepted new action goal ×2 + 21.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.476733 ms (missed cycles : 3). + 21.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.476733 ms (missed cycles : 3).[0m ×2 + 22.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.043051 ms (missed cycles : 2). + 22.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.043051 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Load and Execute Joint Trajectory | load_and_execute_joint_trajectory.xml | 12.1s | 3 errors · 60 warnings · 181 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.692937 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.692937 ms (missed cycles : 2).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.542987 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.542987 ms (missed cycles : 2).[0m ×2 + 1.45sINFOobjective_server_nodeFound path in 0 iterations (4.38e-07 s). ×2 + 1.45sINFOobjective_server_nodePath shortcutter: [X_X] ×2 + 1.46sINFOobjective_server_nodeFound path in 0 iterations (5.44e-07 s). ×2 + 1.46sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 1.47sINFOobjective_server_nodeFound path in 0 iterations (3.05e-07 s). ×2 + 1.52sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 1.55sINFOobjective_server_nodeFound path in 1 iterations (0.00332231 s). ×2 + 1.66sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________X____________X] ×2 + 1.71sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 1.73sINFOros2_control_node[2026-08-26 00:38:26.013] [info] Received new action goal ×2 + 1.73sINFOros2_control_node[2026-08-26 00:38:26.013] [info] Accepted new action goal ×2 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.139533 ms (missed cycles : 2). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.139533 ms (missed cycles : 2).[0m ×2 + 2.16sINFOros2_control_node[2026-08-26 00:38:26.445] [info] Received new action goal ×2 + 2.16sINFOros2_control_node[2026-08-26 00:38:26.445] [info] Accepted new action goal ×2 + 2.54sWARNros2_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 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.870047 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.870047 ms (missed cycles : 2).[0m ×2 + 3.55sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.55sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.68sINFOobjective_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 + 3.69sINFOrobotiq_gripper_controllerGot request to cancel goal + 3.69sINFOrobotiq_gripper_controllerCanceling active action goal because cancel callback received. + 3.69sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 3.69sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.71sERRORobjective_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: 1787704707.99251461 seconds ×3 + 3.71sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.71sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.71sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.71sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.71sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.71sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.72sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.72sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.72sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.72sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.73sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.73sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 4.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.577395 ms (missed cycles : 4). + 4.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.577395 ms (missed cycles : 4).[0m ×2 + 4.52sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1787704708.81201625 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.66sINFOros2_control_nodeMuJoCo sim: 0.34% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 4.73sINFOobjective_server_nodeFound path in 0 iterations (3.77e-07 s). ×2 + 4.75sINFOros2_control_node[2026-08-26 00:38:29.036] [info] Received new action goal ×2 + 4.75sINFOros2_control_node[2026-08-26 00:38:29.036] [info] Accepted new action goal ×2 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.733675 ms (missed cycles : 3). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.733675 ms (missed cycles : 3).[0m ×2 + 6.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.744458 ms (missed cycles : 2). + 6.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.744458 ms (missed cycles : 2).[0m ×2 + 7.25sINFOros2_control_node[2026-08-26 00:38:31.534] [info] Received new action goal ×2 + 7.25sINFOros2_control_node[2026-08-26 00:38:31.535] [info] Accepted new action goal ×2 + 7.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.502535 ms (missed cycles : 3). + 7.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.502535 ms (missed cycles : 3).[0m ×2 + 8.57sWARNros2_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 + 8.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.036524 ms (missed cycles : 4). + 8.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.036524 ms (missed cycles : 4).[0m ×2 + 9.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.634221 ms (missed cycles : 7). + 9.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.634221 ms (missed cycles : 7).[0m ×2 + 10.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.494961 ms (missed cycles : 4). + 10.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.494961 ms (missed cycles : 4).[0m ×2 + 11.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.883482 ms (missed cycles : 2). + 11.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.883482 ms (missed cycles : 2).[0m ×2 + 12.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.723548 ms (missed cycles : 2). + 12.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.723548 ms (missed cycles : 2).[0m ×2 + 13.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.425473 ms (missed cycles : 2). + 13.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.425473 ms (missed cycles : 2).[0m ×2 + 14.55sWARNros2_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 + 15.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.965536 ms (missed cycles : 3). + 15.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.965536 ms (missed cycles : 3).[0m ×2 + 15.82sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1787704720.10633326 seconds ×3 + 16.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.369136 ms (missed cycles : 3). + 16.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.369136 ms (missed cycles : 3).[0m ×2 + 16.48sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1787704720.76905942 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.52sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 16.52sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 16.53sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 16.53sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 16.55sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1787704720.83919740 seconds ×3 + 17.15sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1787704721.43638110 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 17.27sINFOobjective_server_nodeFound path in 0 iterations (2.73e-07 s). ×2 + 17.27sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 17.27sINFOros2_control_node[2026-08-26 00:38:41.560] [info] Received new action goal ×2 + 17.27sINFOros2_control_node[2026-08-26 00:38:41.560] [info] Accepted new action goal ×2 + 17.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.707021 ms (missed cycles : 2). + 17.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.707021 ms (missed cycles : 2).[0m ×2 + 18.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.446453 ms (missed cycles : 3). + 18.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.446453 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Take Wrist Camera Snapshot | wrist_snap.xml | 11.8s | 59 errors · 42 warnings · 319 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.141660 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.141660 ms (missed cycles : 4).[0m ×2 + 0.87sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.88sINFOros2_control_node[2026-08-26 00:42:18.879] [info] Got request to cancel active goal. ×2 + 0.88sINFOros2_control_node[2026-08-26 00:42:18.879] [info] Canceling active goal... ×2 + 0.88sERRORobjective_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: 1787704938.88364267 seconds ×3 + 0.89sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.89sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.89sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 0.89sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.89sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 0.89sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.90sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.90sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.90sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.90sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.91sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.91sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.053315 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.053315 ms (missed cycles : 3).[0m ×2 + 1.47sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1787704939.47818398 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.387034 ms (missed cycles : 3). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.387034 ms (missed cycles : 3).[0m ×2 + 2.19sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1787704940.19831848 seconds ×3 + 2.83sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1787704940.83060384 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 2.83sINFOobjective_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 + 2.83sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 2.83sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1787704940.83352089 seconds ×3 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.912362 ms (missed cycles : 3). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.912362 ms (missed cycles : 3).[0m ×2 + 3.55sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1787704941.55166054 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.55sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1787704941.55217767 seconds ×3 + 3.72sWARNros2_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 + 4.16sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1787704942.16618228 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.785527 ms (missed cycles : 6). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.785527 ms (missed cycles : 6).[0m ×2 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.713029 ms (missed cycles : 2). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.713029 ms (missed cycles : 2).[0m ×2 + 5.33sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1787704943.33631110 seconds ×3 + 5.37sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.497361 ms (missed cycles : 3). + 6.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.497361 ms (missed cycles : 3).[0m ×2 + 7.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.812752 ms (missed cycles : 3). + 7.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.812752 ms (missed cycles : 3).[0m ×2 + 8.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.648578 ms (missed cycles : 3). + 8.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.648578 ms (missed cycles : 3).[0m ×2 + 9.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.732557 ms (missed cycles : 2). + 9.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.732557 ms (missed cycles : 2).[0m ×2 + 9.81sWARNros2_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 + 10.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.988894 ms (missed cycles : 3). + 10.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.988894 ms (missed cycles : 3).[0m ×2 + 10.95sINFOros2_control_nodeMuJoCo sim: 0.34% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 11.30sERRORweb_video_auth_proxy-23process[web_video_auth_proxy-23] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.30sERRORweb_bridge_auth_proxy-22process[web_bridge_auth_proxy-22] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.30sINFOweb_video_auth_proxy-23sending signal 'SIGTERM' to process[web_video_auth_proxy-23] ×2 + 11.31sERRORvideo_server-21process[video_server-21] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.31sERRORweb_video_auth_proxy-23process has died [pid 8944, exit code -15, cmd '/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/auth_proxy --listen-port 3202 --upstream-port 13202 --ros-args']. ×2 + 11.32sERRORtf2_web_republisher_node-20process[tf2_web_republisher_node-20] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.32sINFOweb_bridge_auth_proxy-22sending signal 'SIGTERM' to process[web_bridge_auth_proxy-22] ×2 + 11.33sERRORweb_bridge-19process[web_bridge-19] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.33sERRORweb_bridge_auth_proxy-22process has died [pid 8943, exit code -15, cmd '/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/auth_proxy --listen-port 3201 --upstream-port 13201 --ros-args']. ×2 + 11.33sERRORui_teleop_bridge-18process[ui_teleop_bridge-18] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.34sERRORexecute_objective_bridge-17process[execute_objective_bridge-17] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.34sERRORcomponent_container_mt-16process[component_container_mt-16] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.34sERRORcomponent_container_mt-15process[component_container_mt-15] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.34sERRORobjective_server_node_main-14process[objective_server_node_main-14] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.35sERRORmove_end_effector_resampler_node-13process[move_end_effector_resampler_node-13] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.35sERRORmove_joint_resampler_node-12process[move_joint_resampler_node-12] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.35sERRORwaypoint_manager_node-11process[waypoint_manager_node-11] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.35sERRORparameter_manager_node-10process[parameter_manager_node-10] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.36sERRORmove_group-9process[move_group-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.36sERRORros2_control_node-1process[ros2_control_node-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.36sINFOvideo_server-21sending signal 'SIGTERM' to process[video_server-21] ×2 + 11.37sINFOtf2_web_republisher_node-20sending signal 'SIGTERM' to process[tf2_web_republisher_node-20] ×2 + 11.38sINFOweb_bridge-19sending signal 'SIGTERM' to process[web_bridge-19] ×2 + 11.39sINFOlaunchprocess[web_bridge_auth_proxy-22] was required: shutting down launched system ×2 + 11.40sINFOui_teleop_bridge-18sending signal 'SIGTERM' to process[ui_teleop_bridge-18] ×2 + 11.41sINFOexecute_objective_bridge-17sending signal 'SIGTERM' to process[execute_objective_bridge-17] ×2 + 11.42sINFOcomponent_container_mt-16sending signal 'SIGTERM' to process[component_container_mt-16] ×2 + 11.43sINFOcomponent_container_mt-15sending signal 'SIGTERM' to process[component_container_mt-15] ×2 + 11.44sINFOvideo_server-21process has finished cleanly [pid 8942] ×2 + 11.45sINFOobjective_server_node_main-14sending signal 'SIGTERM' to process[objective_server_node_main-14] ×2 + 11.46sINFOmove_end_effector_resampler_node-13sending signal 'SIGTERM' to process[move_end_effector_resampler_node-13] ×2 + 11.47sINFOmove_joint_resampler_node-12sending signal 'SIGTERM' to process[move_joint_resampler_node-12] ×2 + 11.49sINFOwaypoint_manager_node-11sending signal 'SIGTERM' to process[waypoint_manager_node-11] ×2 + 11.51sINFOparameter_manager_node-10sending signal 'SIGTERM' to process[parameter_manager_node-10] ×2 + 11.53sINFOmove_group-9sending signal 'SIGTERM' to process[move_group-9] ×2 + 11.55sINFOros2_control_node-1sending signal 'SIGTERM' to process[ros2_control_node-1] ×2 + 11.55sINFOcontroller_managerShutdown request received.... + 11.55sINFOcontroller_managerShutting down all controllers in the controller manager. + 11.55sINFOcontroller_managerDeactivating controller 'robotiq_gripper_controller' + 11.55sINFOcontroller_managerShutting down controller 'robotiq_gripper_controller' + 11.55sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 11.55sINFOcontroller_managerDeactivating controller 'joint_trajectory_admittance_controller' + 11.55sINFOcontroller_managerShutting down controller 'joint_trajectory_admittance_controller' + 11.55sINFOvideo_server2026/08/26 00:42:29 INF shutting down gracefully ×2 + 11.55sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 11.55sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 11.55sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 11.55sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 11.55sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 11.55sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 11.55sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.55sINFOcontroller_managerShutting down the controller manager. + 11.55sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.55sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×8 + 11.55sINFOvideo_server2026/08/26 00:42:29 INF [WebRTC] closing ×2 + 11.55sINFOvideo_server2026/08/26 00:42:29 INF [RTSP] closing ×2 + 11.55sINFOvideo_server2026/08/26 00:42:29 INF waiting for running hooks ×2 + 11.55sERRORmove_group-9process has died [pid 8867, 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_4gpy4h4e --params-file /tmp/launch_params_y7ngc293 --params-file /tmp/launch_params_hekqavi2 --params-file /tmp/launch_params_oel48s0g --params-file /tmp/launch_params_digat0rx --params-file /tmp/launch_params_tuleeuxc']. ×2 + 11.56sWARNparameter_manager_nodeROS node was shutdown. ×2 + 11.56sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' ×2 + 11.56sERRORmove_groupwhat(): context cannot be slept with because it's invalid ×2 + 11.56sERRORmove_groupStack trace (most recent call last) in thread 9211: ×2 + 11.56sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 11.56sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f9acca5bb63, in __clone ×2 + 11.56sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f9acc9ceb83, in ×2 + 11.56sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f9accc60db3, in ×2 + 11.56sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so.10.0.0", at 0x7f9acd3d1637, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() ×2 + 11.56sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f9accff2620, in rclcpp::Rate::sleep() ×2 + 11.56sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f9accf34d18, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) ×2 + 11.56sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f9accef6087, in ×2 + 11.56sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f9accc2f390, in __cxa_throw ×2 + 11.56sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f9accc19a54, in std::terminate() ×2 + 11.56sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f9accc2f0d9, in ×2 + 11.56sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f9accc19ff4, in ×2 + 11.56sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f9acc95a8fe, in abort ×2 + 11.56sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f9acc97727d, in raise ×2 + 11.56sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f9acc9d0c0c, in pthread_kill ×2 + 11.56sERRORmove_groupAborted (Signal sent by tkill() 8867 0) ×2 + 11.56sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.56sINFOros2_control_nodeShutdown request received....[0m ×2 + 11.56sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m ×2 + 11.56sINFOros2_control_nodeDeactivating controller 'robotiq_gripper_controller'[0m ×2 + 11.56sINFOros2_control_nodeShutting down controller 'robotiq_gripper_controller'[0m ×2 + 11.56sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m ×2 + 11.56sINFOros2_control_nodeDeactivating controller 'joint_trajectory_admittance_controller'[0m ×2 + 11.56sINFOros2_control_nodeShutting down controller 'joint_trajectory_admittance_controller'[0m ×2 + 11.56sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m ×2 + 11.56sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m ×2 + 11.56sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m ×2 + 11.56sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m ×2 + 11.56sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m ×2 + 11.56sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m ×2 + 11.56sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m ×2 + 11.56sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m ×2 + 11.56sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m ×2 + 11.56sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m ×2 + 11.56sINFOros2_control_nodeShutting down the controller manager.[0m ×2 + 11.56sERRORros2_control_nodeException in publisher thread: context cannot be slept with because it's invalid!. Aborting![0m ×2 + 11.76sINFOros2_control_nodeAsync messages lost 0[0m ×4 + 11.76sINFOros2_control_nodepublish_async_failures_ 4[0m ×2 + 11.76sINFOros2_control_nodepublish_async_failures_ 1[0m ×2 + 12.42sINFOtf2_web_republisher_node-20process has finished cleanly [pid 8941] ×2 + 12.42sINFOlaunchprocess[tf2_web_republisher_node-20] was required: shutting down launched system ×2 + 12.51sINFOmove_end_effector_resampler_node-13process has finished cleanly [pid 8871] ×2 + 12.53sINFOexecute_objective_bridge-17process has finished cleanly [pid 8875] ×2 + 12.53sINFOui_teleop_bridge-18process has finished cleanly [pid 8876] ×2 + 12.53sINFOcomponent_container_mt-16process has finished cleanly [pid 8874] ×2 + 12.53sINFOmove_joint_resampler_node-12process has finished cleanly [pid 8870] ×2 + 12.57sINFOwaypoint_manager_node-11process has finished cleanly [pid 8869] ×2 + 12.58sINFOparameter_manager_node-10process has finished cleanly [pid 8868] ×2 + 12.60sINFOobjective_server_nodeDropped 4 pooled inference model entry(s) at shutdown. ×2 + 12.68sINFOobjective_server_node[0;m[2026-08-26 00:42:30.686] [moveit_pro_license] [critical] ×2 + 12.68sINFOobjective_server_node************************************************* ×4 + 12.68sINFOobjective_server_node* MoveIt Pro License ×2 + 12.68sINFOobjective_server_node* ERROR Deactivating floating license! Failed Deactivation: Unknown exception setting license: 59 ×2 + 13.17sINFOobjective_server_node_main-14process has finished cleanly [pid 8872] ×2 + 13.17sINFOlaunchprocess[objective_server_node_main-14] was required: shutting down launched system ×2 + 13.55sINFOweb_bridge-19process has finished cleanly [pid 8877] ×2 + 13.55sINFOlaunchprocess[web_bridge-19] was required: shutting down launched system ×2 + 13.64sINFOcomponent_container_mt-15process has finished cleanly [pid 8873] ×2 + 14.19sINFOros2_control_node-1process has finished cleanly [pid 8830] ×2 | ||||
| ✓ passed | Push Button | move_with_velocity_and_force.xml | 11.6s | 60 warnings · 182 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.487793 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.487793 ms (missed cycles : 5).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.075226 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.075226 ms (missed cycles : 2).[0m ×2 + 1.71sINFOobjective_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 + 1.71sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 1.71sINFOcontroller_managerDeactivating controllers: [ velocity_force_controller ] ×2 + 1.71sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 1.71sINFOros2_control_nodeDeactivating controllers: [ velocity_force_controller ][0m ×4 + 1.71sINFOcontroller_managerDeactivated controllers: [ velocity_force_controller ] ×2 + 1.71sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 1.71sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.71sINFOros2_control_nodeDeactivated controllers: [ velocity_force_controller ][0m ×4 + 1.71sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 1.71sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.72sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.72sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.790646 ms (missed cycles : 5). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.790646 ms (missed cycles : 5).[0m ×2 + 2.58sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.59sINFOros2_control_node[2026-08-26 00:39:33.672] [info] Received new action goal ×2 + 2.59sINFOros2_control_node[2026-08-26 00:39:33.672] [info] Accepted new action goal ×2 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.527458 ms (missed cycles : 2). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.527458 ms (missed cycles : 2).[0m ×2 + 3.57sWARNros2_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 + 3.75sINFOobjective_server_nodeObjective `Move Flasks to Burners` succeeded at time: 1787704774.82855654 seconds ×3 + 3.82sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.82sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.82sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.82sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.83sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.83sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.83sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.83sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.84sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.84sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 4.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.041463 ms (missed cycles : 4). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.041463 ms (missed cycles : 4).[0m ×2 + 4.56sINFOobjective_server_nodeObjective `Push Button` starting at time: 1787704775.64318776 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.906540 ms (missed cycles : 5). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.906540 ms (missed cycles : 5).[0m ×2 + 5.64sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.73sINFOobjective_server_nodeFound path in 0 iterations (3.79e-07 s). ×2 + 5.74sINFOobjective_server_nodePath shortcutter: [X__________________________X] ×2 + 5.75sINFOros2_control_node[2026-08-26 00:39:36.828] [info] Received new action goal ×2 + 5.75sINFOros2_control_node[2026-08-26 00:39:36.828] [info] Accepted new action goal ×2 + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.476071 ms (missed cycles : 3). + 6.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.476071 ms (missed cycles : 3).[0m ×2 + 7.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.725528 ms (missed cycles : 2). + 7.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.725528 ms (missed cycles : 2).[0m ×2 + 8.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.865736 ms (missed cycles : 3). + 8.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.865736 ms (missed cycles : 3).[0m ×2 + 9.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.456189 ms (missed cycles : 2). + 9.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.456189 ms (missed cycles : 2).[0m ×2 + 9.45sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×6 + 9.45sINFOcontroller_managerActivating controllers: [ velocity_force_controller ] + 9.45sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 9.45sINFOros2_control_nodeActivating controllers: [ velocity_force_controller ][0m ×2 + 9.45sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 9.45sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 9.45sINFOcontroller_managerActivated controllers: [ velocity_force_controller ] + 9.45sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 9.45sINFOros2_control_nodeActivated controllers: [ velocity_force_controller ][0m ×2 + 9.62sWARNros2_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 + 10.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.368616 ms (missed cycles : 3). + 10.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.368616 ms (missed cycles : 3).[0m ×2 + 11.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.574138 ms (missed cycles : 3). + 11.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.574138 ms (missed cycles : 3).[0m ×2 + 11.82sINFOobjective_server_nodeFound path in 0 iterations (4.25e-07 s). ×2 + 11.83sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 11.85sINFOros2_control_node[2026-08-26 00:39:42.928] [info] Received new action goal ×2 + 11.85sINFOros2_control_node[2026-08-26 00:39:42.928] [info] Accepted new action goal ×2 + 12.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.054746 ms (missed cycles : 2). + 12.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.054746 ms (missed cycles : 2).[0m ×2 + 13.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.327319 ms (missed cycles : 4). + 13.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.327319 ms (missed cycles : 4).[0m ×2 + 14.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.708463 ms (missed cycles : 2). + 14.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.708463 ms (missed cycles : 2).[0m ×2 + 14.83sWARNros2_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 + 15.45sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1787704786.53337669 seconds ×3 + 15.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.259642 ms (missed cycles : 2). + 15.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.259642 ms (missed cycles : 2).[0m ×2 + 16.07sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1787704787.14807773 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.22sINFOobjective_server_nodeFound path in 0 iterations (3.26e-07 s). ×2 + 16.23sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 16.23sINFOros2_control_node[2026-08-26 00:39:47.312] [info] Received new action goal ×2 + 16.23sINFOros2_control_node[2026-08-26 00:39:47.312] [info] Accepted new action goal ×2 + 16.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.626980 ms (missed cycles : 4). + 16.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.626980 ms (missed cycles : 4).[0m ×2 + 17.50sINFOobjective_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 + 17.51sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 17.57sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 17.57sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 17.57sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 17.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 17.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.010753 ms (missed cycles : 2). + 17.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.010753 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Stationary Admittance | stationary_admittance.xml | 11.1s | 6 errors · 62 warnings · 274 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.512915 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.512915 ms (missed cycles : 3).[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.209664 ms (missed cycles : 2). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.209664 ms (missed cycles : 2).[0m ×2 + 1.94sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×6 + 1.94sERRORobjective_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: 1787704926.37784004 seconds ×3 + 2.01sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×8 + 2.01sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×16 + 2.01sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 2.01sINFOcontroller_managerSuccessfully switched controllers! ×16 + 2.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 2.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×32 + 2.02sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 2.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 2.02sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×8 + 2.02sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×16 + 2.03sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×8 + 2.03sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×16 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.037102 ms (missed cycles : 4). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.037102 ms (missed cycles : 4).[0m ×2 + 2.23sWARNros2_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 + 2.59sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1787704927.02777100 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.64sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.64sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.66sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.66sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.67sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1787704927.10790443 seconds ×3 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.740558 ms (missed cycles : 2). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.740558 ms (missed cycles : 2).[0m ×2 + 3.28sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1787704927.71018672 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.30sINFOobjective_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 + 3.30sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1787704927.73234153 seconds ×3 + 4.02sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1787704928.44902873 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.03sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.13sINFOobjective_server_nodeFound path in 0 iterations (3.88e-07 s). ×2 + 4.13sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.14sINFOros2_control_node[2026-08-26 00:42:08.573] [info] Received new action goal ×2 + 4.14sINFOros2_control_node[2026-08-26 00:42:08.573] [info] Accepted new action goal ×2 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.049554 ms (missed cycles : 4). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.049554 ms (missed cycles : 4).[0m ×2 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.891079 ms (missed cycles : 3). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.891079 ms (missed cycles : 3).[0m ×2 + 6.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.238440 ms (missed cycles : 3). + 6.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.238440 ms (missed cycles : 3).[0m ×2 + 7.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.691278 ms (missed cycles : 2). + 7.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.691278 ms (missed cycles : 2).[0m ×2 + 7.27sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.29 s); wrist_camera (1.29 s). The render path has stopped producing new frames for them.[0m ×2 + 7.45sINFOobjective_server_nodeLogMessage Info: Running admittance mode for 10 seconds ×3 + 7.45sINFOros2_control_node[2026-08-26 00:42:11.882] [info] Received new action goal ×2 + 7.45sINFOros2_control_node[2026-08-26 00:42:11.882] [info] Accepted new action goal ×2 + 7.45sINFOros2_control_node[2026-08-26 00:42:11.882] [info] Goal path tolerance override provided: 10, 10, 10, 10, 10, 10, 10 ×2 + 8.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.070065 ms (missed cycles : 5). + 8.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.070065 ms (missed cycles : 5).[0m ×2 + 9.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.519028 ms (missed cycles : 6). + 9.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.519028 ms (missed cycles : 6).[0m ×2 + 10.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.136905 ms (missed cycles : 2). + 10.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.136905 ms (missed cycles : 2).[0m ×2 + 11.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879454 ms (missed cycles : 2). + 11.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879454 ms (missed cycles : 2).[0m ×2 + 12.27sWARNros2_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 ×4 + 12.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.807613 ms (missed cycles : 5). + 12.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.807613 ms (missed cycles : 5).[0m ×2 + 13.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.141660 ms (missed cycles : 4). + 13.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.141660 ms (missed cycles : 4).[0m ×2 + 14.45sINFOros2_control_node[2026-08-26 00:42:18.879] [info] Got request to cancel active goal. ×2 + 14.45sINFOros2_control_node[2026-08-26 00:42:18.879] [info] Canceling active goal... ×2 + 14.45sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1787704938.88364267 seconds ×3 + 14.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.053315 ms (missed cycles : 3). + 14.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.053315 ms (missed cycles : 3).[0m ×2 + 15.04sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1787704939.47818398 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.387034 ms (missed cycles : 3). + 15.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.387034 ms (missed cycles : 3).[0m ×2 + 15.76sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1787704940.19831848 seconds ×3 + 16.40sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1787704940.83060384 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.40sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 16.40sINFOobjective_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 + 16.40sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 16.40sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1787704940.83352089 seconds ×3 + 16.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.912362 ms (missed cycles : 3). + 16.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.912362 ms (missed cycles : 3).[0m ×2 + 17.12sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1787704941.55166054 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 17.12sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1787704941.55217767 seconds ×3 | ||||
| ✓ passed | Grasp Pose Tuning With April Tag | grasp_pose_tuning_with_april_tag.xml | 11.0s | 9 errors · 55 warnings · 150 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.768512 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.768512 ms (missed cycles : 2).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.866414 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.866414 ms (missed cycles : 2).[0m ×2 + 1.22sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 1.30sINFOobjective_server_nodeFound path in 0 iterations (4.13e-07 s). ×2 + 1.31sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.31sINFOros2_control_node[2026-08-26 00:38:03.877] [info] Received new action goal ×2 + 1.31sINFOros2_control_node[2026-08-26 00:38:03.877] [info] Accepted new action goal ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.262469 ms (missed cycles : 4). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.262469 ms (missed cycles : 4).[0m ×2 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.243797 ms (missed cycles : 4). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.243797 ms (missed cycles : 4).[0m ×2 + 3.30sINFOobjective_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 + 3.31sINFOros2_control_node[2026-08-26 00:38:05.876] [info] Got request to cancel active goal. ×2 + 3.31sINFOros2_control_node[2026-08-26 00:38:05.876] [info] Canceling active goal... ×2 + 3.32sERRORobjective_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: 1787704685.88838840 seconds ×3 + 3.37sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.37sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.37sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.37sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.37sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.37sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.38sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.38sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.38sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.38sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.39sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.39sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.97sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1787704686.53824353 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.97sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.98sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 4.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.144262 ms (missed cycles : 5). + 4.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.144262 ms (missed cycles : 5).[0m ×2 + 4.17sINFOobjective_server_nodeFound path in 0 iterations (4.2e-07 s). ×2 + 4.17sINFOobjective_server_nodePath shortcutter: [X______X] ×4 + 4.18sINFOros2_control_node[2026-08-26 00:38:06.747] [info] Received new action goal ×2 + 4.18sINFOros2_control_node[2026-08-26 00:38:06.747] [info] Accepted new action goal ×2 + 5.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.740946 ms (missed cycles : 2). + 5.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.740946 ms (missed cycles : 2).[0m ×2 + 6.04sWARNros2_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 ×4 + 6.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.450304 ms (missed cycles : 2). + 6.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.450304 ms (missed cycles : 2).[0m ×2 + 7.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.894638 ms (missed cycles : 2). + 7.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.894638 ms (missed cycles : 2).[0m ×2 + 8.59sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 8.59sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 ×2 + 8.59sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 8.87sINFOobjective_server_nodeFound path in 0 iterations (3.58e-07 s). ×2 + 8.87sINFOobjective_server_nodePath shortcutter: [X__________X] ×2 + 8.88sINFOobjective_server_nodeFound path in 0 iterations (3.89e-07 s). ×2 + 8.88sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 8.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.784695 ms (missed cycles : 2). + 8.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.784695 ms (missed cycles : 2).[0m ×2 + 8.89sINFOobjective_server_nodeFound path in 0 iterations (3.85e-07 s). ×2 + 8.94sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X] ×2 + 8.95sINFOobjective_server_nodeFound path in 0 iterations (5.13e-07 s). ×2 + 9.00sINFOobjective_server_nodePath shortcutter: [X________________________________________________X] ×2 + 9.03sINFOobjective_server_nodeFound path in 1 iterations (0.00407413 s). ×2 + 9.14sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________________________X____________X] ×2 + 9.17sINFOobjective_server_nodeFound path in 1 iterations (0.00487701 s). ×2 + 9.26sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________X_________________________X] ×2 + 9.28sINFOobjective_server_nodeFound path in 0 iterations (5.62e-07 s). ×2 + 9.40sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________X] ×2 + 9.43sINFOobjective_server_nodeFound path in 0 iterations (3.99e-07 s). ×2 + 9.54sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________X] ×2 + 9.66sINFOros2_control_node[2026-08-26 00:38:12.225] [info] Received new action goal ×2 + 9.66sINFOros2_control_node[2026-08-26 00:38:12.225] [info] Accepted new action goal ×2 + 9.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.581192 ms (missed cycles : 5). + 9.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.581192 ms (missed cycles : 5).[0m ×2 + 10.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849337 ms (missed cycles : 2). + 10.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849337 ms (missed cycles : 2).[0m ×2 + 11.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.576069 ms (missed cycles : 3). + 11.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.576069 ms (missed cycles : 3).[0m ×2 + 12.08sINFOparameter_manager_nodeRetrieving pose from parameter manager. ×3 + 12.36sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal. + 12.36sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal.[0m ×2 + 12.37sERRORobjective_server_nodeDoTeleoperateAction Error: Failed to send goal request to action server: Goal request was rejected by the action server ×3 + 12.38sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Tuning With April Tag` did not succeed at time: 1787704694.95051718 seconds ×3 + 13.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.002604 ms (missed cycles : 5). + 13.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.002604 ms (missed cycles : 5).[0m ×2 + 14.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.758647 ms (missed cycles : 2). + 14.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.758647 ms (missed cycles : 2).[0m ×2 + 15.03sINFOobjective_server_nodeObjective `Grasp Pose Using Yaml` starting at time: 1787704697.59726477 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.23sINFOobjective_server_nodeFound path in 0 iterations (3.48e-07 s). ×2 + 15.25sINFOros2_control_node[2026-08-26 00:38:17.811] [info] Received new action goal ×2 + 15.25sINFOros2_control_node[2026-08-26 00:38:17.811] [info] Accepted new action goal ×2 + 15.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.898617 ms (missed cycles : 2). + 15.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.898617 ms (missed cycles : 2).[0m ×2 + 16.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.698601 ms (missed cycles : 2). + 16.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.698601 ms (missed cycles : 2).[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 1.849337 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849337 ms (missed cycles : 2).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.576069 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.576069 ms (missed cycles : 3).[0m ×2 + 1.17sINFOparameter_manager_nodeRetrieving pose from parameter manager. ×3 + 1.28sWARNros2_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 ×4 + 1.45sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal. + 1.45sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal.[0m ×2 + 1.46sERRORobjective_server_nodeDoTeleoperateAction Error: Failed to send goal request to action server: Goal request was rejected by the action server ×3 + 1.47sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Tuning With April Tag` did not succeed at time: 1787704694.95051718 seconds ×3 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.002604 ms (missed cycles : 5). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.002604 ms (missed cycles : 5).[0m ×2 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.758647 ms (missed cycles : 2). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.758647 ms (missed cycles : 2).[0m ×2 + 3.49sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.49sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.50sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.50sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.50sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.50sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.50sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.51sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.51sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.51sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.51sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.51sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 4.12sINFOobjective_server_nodeObjective `Grasp Pose Using Yaml` starting at time: 1787704697.59726477 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.13sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 4.14sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 4.22sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 4.31sINFOobjective_server_nodeFound path in 0 iterations (3.48e-07 s). ×2 + 4.32sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.33sINFOros2_control_node[2026-08-26 00:38:17.811] [info] Received new action goal ×2 + 4.33sINFOros2_control_node[2026-08-26 00:38:17.811] [info] Accepted new action goal ×2 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.898617 ms (missed cycles : 2). + 4.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.898617 ms (missed cycles : 2).[0m ×2 + 5.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.698601 ms (missed cycles : 2). + 5.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.698601 ms (missed cycles : 2).[0m ×2 + 6.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.492530 ms (missed cycles : 6). + 6.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.492530 ms (missed cycles : 6).[0m ×2 + 7.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.768567 ms (missed cycles : 2). + 7.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.768567 ms (missed cycles : 2).[0m ×2 + 8.56sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 8.56sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 ×2 + 8.57sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 8.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.984018 ms (missed cycles : 3). + 8.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.984018 ms (missed cycles : 3).[0m ×2 + 8.84sINFOobjective_server_nodeFound path in 0 iterations (3.32e-07 s). ×2 + 8.85sINFOobjective_server_nodePath shortcutter: [X__________X] ×2 + 8.85sINFOobjective_server_nodeFound path in 0 iterations (4.42e-07 s). ×2 + 8.85sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 8.87sINFOobjective_server_nodeFound path in 0 iterations (8.27e-07 s). ×2 + 8.91sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X] ×2 + 8.92sINFOobjective_server_nodeFound path in 0 iterations (3.85e-07 s). ×2 + 8.95sINFOobjective_server_nodePath shortcutter: [X________________________________________________X] ×2 + 8.97sINFOobjective_server_nodeFound path in 1 iterations (0.00303471 s). ×2 + 9.07sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________________________X____________X] ×2 + 9.10sINFOobjective_server_nodeFound path in 1 iterations (0.00449786 s). ×2 + 9.19sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________X_________________________X] ×2 + 9.20sINFOobjective_server_nodeFound path in 0 iterations (4.12e-07 s). ×2 + 9.33sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________X] ×2 + 9.34sINFOobjective_server_nodeFound path in 0 iterations (3.24e-07 s). ×2 + 9.45sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________X] ×2 + 9.57sINFOros2_control_node[2026-08-26 00:38:23.054] [info] Received new action goal ×2 + 9.57sINFOros2_control_node[2026-08-26 00:38:23.054] [info] Accepted new action goal ×2 + 9.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.428890 ms (missed cycles : 2). + 9.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.428890 ms (missed cycles : 2).[0m ×2 + 10.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.692937 ms (missed cycles : 2). + 10.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.692937 ms (missed cycles : 2).[0m ×2 + 11.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.542987 ms (missed cycles : 2). + 11.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.542987 ms (missed cycles : 2).[0m ×2 + 12.26sINFOobjective_server_nodeFound path in 0 iterations (4.38e-07 s). ×2 + 12.26sINFOobjective_server_nodePath shortcutter: [X_X] ×2 + 12.26sINFOobjective_server_nodeFound path in 0 iterations (5.44e-07 s). ×2 + 12.26sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 12.27sINFOobjective_server_nodeFound path in 0 iterations (3.05e-07 s). ×2 + 12.32sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 12.35sINFOobjective_server_nodeFound path in 1 iterations (0.00332231 s). ×2 + 12.47sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________X____________X] ×2 + 12.53sINFOros2_control_node[2026-08-26 00:38:26.013] [info] Received new action goal ×2 + 12.53sINFOros2_control_node[2026-08-26 00:38:26.013] [info] Accepted new action goal ×2 + 12.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.139533 ms (missed cycles : 2). + 12.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.139533 ms (missed cycles : 2).[0m ×2 + 12.97sINFOros2_control_node[2026-08-26 00:38:26.445] [info] Received new action goal ×2 + 12.97sINFOros2_control_node[2026-08-26 00:38:26.445] [info] Accepted new action goal ×2 + 13.35sWARNros2_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 + 14.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.870047 ms (missed cycles : 2). + 14.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.870047 ms (missed cycles : 2).[0m ×2 + 14.49sINFOobjective_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 + 14.50sINFOrobotiq_gripper_controllerGot request to cancel goal + 14.50sINFOrobotiq_gripper_controllerCanceling active action goal because cancel callback received. + 14.50sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 14.50sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 14.51sERRORobjective_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: 1787704707.99251461 seconds ×3 + 15.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.577395 ms (missed cycles : 4). + 15.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.577395 ms (missed cycles : 4).[0m ×2 + 15.33sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1787704708.81201625 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.46sINFOros2_control_nodeMuJoCo sim: 0.34% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 15.54sINFOobjective_server_nodeFound path in 0 iterations (3.77e-07 s). ×2 + 15.56sINFOros2_control_node[2026-08-26 00:38:29.036] [info] Received new action goal ×2 + 15.56sINFOros2_control_node[2026-08-26 00:38:29.036] [info] Accepted new action goal ×2 + 16.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.733675 ms (missed cycles : 3). + 16.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.733675 ms (missed cycles : 3).[0m ×2 + 17.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.744458 ms (missed cycles : 2). + 17.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.744458 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | 3 Waypoints Pick and Place | 3_waypoint_pick_and_place.xml | 11.0s | 3 errors · 59 warnings · 332 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.637015 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.637015 ms (missed cycles : 2).[0m ×2 + 0.39sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787704643.09561563 seconds ×3 + 0.43sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.43sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.43sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.43sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.43sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.43sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 0.43sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.44sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.44sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.44sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.44sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.44sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.67sWARNros2_control_nodeCamera render tick took 1.94 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 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.705710 ms (missed cycles : 2). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.705710 ms (missed cycles : 2).[0m ×2 + 1.03sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787704643.73021770 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.03sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×4 + 1.03sINFOros2_control_nodeReceived & accepted new action goal[0m ×8 + 1.09sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787704643.79042387 seconds ×3 + 1.74sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787704644.44447231 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.76sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787704644.46460342 seconds ×3 + 1.95sWARNros2_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 + 2.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.154964 ms (missed cycles : 4). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.154964 ms (missed cycles : 4).[0m ×2 + 2.36sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787704645.06335068 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.51sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787704645.21389341 seconds ×3 + 3.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.505849 ms (missed cycles : 4). + 3.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.505849 ms (missed cycles : 4).[0m ×2 + 3.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787704645.92123270 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.24sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.24sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.25sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.26sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.27sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787704645.97136688 seconds ×3 + 3.88sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787704646.58259773 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.89sINFOobjective_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 + 3.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.89sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.89sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.89sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.89sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.89sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.00sINFOobjective_server_nodeFound path in 0 iterations (2.4174e-05 s). ×2 + 4.00sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.02sINFOros2_control_node[2026-08-26 00:37:26.719] [info] Received new action goal ×2 + 4.02sINFOros2_control_node[2026-08-26 00:37:26.719] [info] Accepted new action goal ×2 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.198650 ms (missed cycles : 5). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.198650 ms (missed cycles : 5).[0m ×2 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.944090 ms (missed cycles : 3). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.944090 ms (missed cycles : 3).[0m ×2 + 6.24sINFOros2_control_nodeMuJoCo sim: 0.21% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.091538 ms (missed cycles : 2). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.091538 ms (missed cycles : 2).[0m ×2 + 6.42sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 6.51sINFOobjective_server_nodeFound path in 0 iterations (3.97e-07 s). ×2 + 6.52sINFOobjective_server_nodePath shortcutter: [X__________________X] ×4 + 6.53sINFOros2_control_node[2026-08-26 00:37:29.237] [info] Received new action goal ×2 + 6.53sINFOros2_control_node[2026-08-26 00:37:29.237] [info] Accepted new action goal ×2 + 7.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.613155 ms (missed cycles : 2). + 7.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.613155 ms (missed cycles : 2).[0m ×2 + 8.10sWARNros2_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 + 8.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.186551 ms (missed cycles : 2). + 8.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.186551 ms (missed cycles : 2).[0m ×2 + 9.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.717198 ms (missed cycles : 3). + 9.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.717198 ms (missed cycles : 3).[0m ×2 + 10.25sINFOobjective_server_nodeFound path in 0 iterations (3.74e-07 s). ×2 + 10.27sINFOros2_control_node[2026-08-26 00:37:32.977] [info] Received new action goal ×2 + 10.27sINFOros2_control_node[2026-08-26 00:37:32.977] [info] Accepted new action goal ×2 + 10.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.111662 ms (missed cycles : 2). + 10.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.111662 ms (missed cycles : 2).[0m ×2 + 11.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.635281 ms (missed cycles : 4). + 11.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.635281 ms (missed cycles : 4).[0m ×2 + 12.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.586714 ms (missed cycles : 7). + 12.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.586714 ms (missed cycles : 7).[0m ×2 + 13.58sINFOobjective_server_nodeFound path in 0 iterations (3.14e-07 s). ×2 + 13.59sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 13.60sINFOros2_control_node[2026-08-26 00:37:36.307] [info] Received new action goal ×2 + 13.60sINFOros2_control_node[2026-08-26 00:37:36.307] [info] Accepted new action goal ×2 + 13.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.114367 ms (missed cycles : 5). + 13.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.114367 ms (missed cycles : 5).[0m ×2 + 14.10sWARNros2_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 + 14.27sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.27sINFOros2_control_node[2026-08-26 00:37:36.973] [info] Got request to cancel active goal. ×2 + 14.27sINFOros2_control_node[2026-08-26 00:37:36.973] [info] Canceling active goal... ×2 + 14.28sERRORobjective_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: 1787704656.98841500 seconds ×3 + 14.34sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 14.34sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 14.35sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 14.36sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 14.36sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 14.36sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 14.93sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1787704657.63606811 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.04sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1787704657.74620533 seconds ×3 + 15.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668424 ms (missed cycles : 2). + 15.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668424 ms (missed cycles : 2).[0m ×2 + 15.67sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1787704658.37369323 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.86sINFOobjective_server_nodeFound path in 0 iterations (5.87e-07 s). ×2 + 15.86sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 15.87sINFOros2_control_node[2026-08-26 00:37:38.578] [info] Received new action goal ×2 + 15.87sINFOros2_control_node[2026-08-26 00:37:38.578] [info] Accepted new action goal ×2 + 16.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.211649 ms (missed cycles : 2). + 16.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.211649 ms (missed cycles : 2).[0m ×2 + 17.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.059816 ms (missed cycles : 2). + 17.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.059816 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Record and Replay Scanning Motion | record_and_replay_scanning_motion.xml | 10.9s | 3 errors · 57 warnings · 176 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.627091 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.627091 ms (missed cycles : 2).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.176353 ms (missed cycles : 4). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.176353 ms (missed cycles : 4).[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.705698 ms (missed cycles : 5). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.705698 ms (missed cycles : 5).[0m ×2 + 2.81sWARNros2_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 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.986644 ms (missed cycles : 2). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.986644 ms (missed cycles : 2).[0m ×2 + 3.64sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1787704915.42687631 seconds ×3 + 3.65sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×5 + 3.65sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×10 + 3.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 3.65sINFOcontroller_managerSuccessfully switched controllers! ×10 + 3.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 3.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×20 + 3.65sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×10 + 3.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 3.66sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×5 + 3.66sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×10 + 3.66sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×5 + 3.66sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×10 + 4.25sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1787704916.03746748 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.27sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.436208 ms (missed cycles : 2). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.436208 ms (missed cycles : 2).[0m ×2 + 4.38sINFOobjective_server_nodeFound path in 0 iterations (3.05e-07 s). ×2 + 4.38sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.39sINFOros2_control_node[2026-08-26 00:41:56.182] [info] Received new action goal ×2 + 4.39sINFOros2_control_node[2026-08-26 00:41:56.182] [info] Accepted new action goal ×2 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.427403 ms (missed cycles : 4). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.427403 ms (missed cycles : 4).[0m ×2 + 6.30sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.107383 ms (missed cycles : 2). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.107383 ms (missed cycles : 2).[0m ×2 + 7.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.528416 ms (missed cycles : 2). + 7.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.528416 ms (missed cycles : 2).[0m ×2 + 8.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.699168 ms (missed cycles : 3). + 8.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.699168 ms (missed cycles : 3).[0m ×2 + 8.86sWARNros2_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 + 9.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.049263 ms (missed cycles : 3). + 9.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.049263 ms (missed cycles : 3).[0m ×2 + 10.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.158598 ms (missed cycles : 4). + 10.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.158598 ms (missed cycles : 4).[0m ×2 + 11.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.874873 ms (missed cycles : 3). + 11.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.874873 ms (missed cycles : 3).[0m ×2 + 12.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.512915 ms (missed cycles : 3). + 12.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.512915 ms (missed cycles : 3).[0m ×2 + 13.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.209664 ms (missed cycles : 2). + 13.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.209664 ms (missed cycles : 2).[0m ×2 + 14.58sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.59sERRORobjective_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: 1787704926.37784004 seconds ×3 + 14.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.037102 ms (missed cycles : 4). + 14.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.037102 ms (missed cycles : 4).[0m ×2 + 15.24sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1787704927.02777100 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.28sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 15.28sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 15.30sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 15.30sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 15.32sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1787704927.10790443 seconds ×3 + 15.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.740558 ms (missed cycles : 2). + 15.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.740558 ms (missed cycles : 2).[0m ×2 + 15.92sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1787704927.71018672 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.94sINFOobjective_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 + 15.94sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1787704927.73234153 seconds ×3 + 16.66sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1787704928.44902873 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.77sINFOobjective_server_nodeFound path in 0 iterations (3.88e-07 s). ×2 + 16.77sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 16.78sINFOros2_control_node[2026-08-26 00:42:08.573] [info] Received new action goal ×2 + 16.78sINFOros2_control_node[2026-08-26 00:42:08.573] [info] Accepted new action goal ×2 + 16.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.049554 ms (missed cycles : 4). + 16.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.049554 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Plan and Save Trajectory | plan_and_save_trajectory.xml | 10.8s | 6 errors · 57 warnings · 105 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.884967 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.884967 ms (missed cycles : 3).[0m ×2 + 1.06sINFOros2_control_node[2026-08-26 00:41:31.205] [info] Received new action goal ×2 + 1.06sINFOros2_control_node[2026-08-26 00:41:31.205] [info] Accepted new action goal ×2 + 1.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.942158 ms (missed cycles : 3). + 1.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.942158 ms (missed cycles : 3).[0m ×2 + 2.45sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.45sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.055359 ms (missed cycles : 2). + 2.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.055359 ms (missed cycles : 2).[0m ×2 + 2.48sWARNros2_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 + 2.96sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.97sINFOros2_control_node[2026-08-26 00:41:33.119] [info] Received new action goal ×2 + 2.97sINFOros2_control_node[2026-08-26 00:41:33.119] [info] Accepted new action goal ×2 + 3.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.948271 ms (missed cycles : 3). + 3.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.948271 ms (missed cycles : 3).[0m ×2 + 3.82sINFOobjective_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 + 3.83sINFOros2_control_node[2026-08-26 00:41:33.975] [info] Got request to cancel active goal. ×2 + 3.83sINFOros2_control_node[2026-08-26 00:41:33.975] [info] Canceling active goal... ×2 + 3.84sERRORobjective_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: 1787704893.99032760 seconds ×3 + 3.89sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.89sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.89sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.89sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.89sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.89sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.90sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.90sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.90sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.90sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.91sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.91sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 4.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.700170 ms (missed cycles : 4). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.700170 ms (missed cycles : 4).[0m ×2 + 4.52sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1787704894.67522645 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 (4.69e-07 s). ×2 + 4.70sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.71sINFOros2_control_node[2026-08-26 00:41:34.859] [info] Received new action goal ×2 + 4.71sINFOros2_control_node[2026-08-26 00:41:34.859] [info] Accepted new action goal ×2 + 5.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.905513 ms (missed cycles : 2). + 5.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.905513 ms (missed cycles : 2).[0m ×2 + 6.62sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.087150 ms (missed cycles : 5). + 6.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.087150 ms (missed cycles : 5).[0m ×2 + 7.54sWARNros2_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 + 7.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.004557 ms (missed cycles : 4). + 7.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.004557 ms (missed cycles : 4).[0m ×2 + 8.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.865311 ms (missed cycles : 4). + 8.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.865311 ms (missed cycles : 4).[0m ×2 + 9.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.243818 ms (missed cycles : 4). + 9.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.243818 ms (missed cycles : 4).[0m ×2 + 10.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.273335 ms (missed cycles : 2). + 10.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.273335 ms (missed cycles : 2).[0m ×2 + 12.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.000629 ms (missed cycles : 4). + 12.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.000629 ms (missed cycles : 4).[0m ×2 + 13.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.827701 ms (missed cycles : 2). + 13.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.827701 ms (missed cycles : 2).[0m ×2 + 14.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.523172 ms (missed cycles : 2). + 14.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.523172 ms (missed cycles : 2).[0m ×2 + 14.73sERRORobjective_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: 1787704904.87578702 seconds ×3 + 15.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.278686 ms (missed cycles : 2). + 15.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.278686 ms (missed cycles : 2).[0m ×2 + 15.35sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1787704905.49770093 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.65sINFOobjective_server_nodeFound path in 0 iterations (3.62e-07 s). ×2 + 15.66sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 15.67sINFOros2_control_node[2026-08-26 00:41:45.824] [info] Received new action goal ×2 + 15.67sINFOros2_control_node[2026-08-26 00:41:45.824] [info] Accepted new action goal ×2 + 16.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.395512 ms (missed cycles : 4). + 16.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.395512 ms (missed cycles : 4).[0m ×2 + 17.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.104932 ms (missed cycles : 4). + 17.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.104932 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Pick April Tag Labeled Object With Approval | pick_april_tag_object_with_approval.xml | 10.8s | 3 errors · 57 warnings · 145 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.246589 ms (missed cycles : 7). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.246589 ms (missed cycles : 7).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.083347 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.083347 ms (missed cycles : 2).[0m ×2 + 1.23sWARNros2_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 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.696037 ms (missed cycles : 2). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.696037 ms (missed cycles : 2).[0m ×2 + 2.86sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 2.86sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.256899 ms (missed cycles : 3). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.256899 ms (missed cycles : 3).[0m ×2 + 3.66sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` succeeded at time: 1787704883.17586827 seconds ×3 + 3.71sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.71sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.71sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.71sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.71sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.71sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.72sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.72sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.72sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.72sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.72sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.72sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 4.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.908188 ms (missed cycles : 5). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.908188 ms (missed cycles : 5).[0m ×2 + 4.37sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1787704883.88537288 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.50sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 4.59sINFOobjective_server_nodeFound path in 0 iterations (2.41e-07 s). ×2 + 4.59sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.61sINFOros2_control_node[2026-08-26 00:41:24.119] [info] Received new action goal ×2 + 4.61sINFOros2_control_node[2026-08-26 00:41:24.119] [info] Accepted new action goal ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.045251 ms (missed cycles : 5). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.045251 ms (missed cycles : 5).[0m ×2 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.383138 ms (missed cycles : 2). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.383138 ms (missed cycles : 2).[0m ×2 + 7.38sWARNros2_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 + 7.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.115796 ms (missed cycles : 2). + 7.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.115796 ms (missed cycles : 2).[0m ×2 + 8.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.306197 ms (missed cycles : 5). + 8.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.306197 ms (missed cycles : 5).[0m ×2 + 8.68sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 8.68sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 ×2 + 8.68sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 8.96sINFOobjective_server_nodeFound path in 0 iterations (3.68e-07 s). ×2 + 8.96sINFOobjective_server_nodePath shortcutter: [X__________X] ×2 + 8.97sINFOobjective_server_nodeFound path in 0 iterations (2.2e-07 s). ×2 + 8.98sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 8.99sINFOobjective_server_nodeFound path in 0 iterations (3.61e-07 s). ×2 + 9.03sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X] ×2 + 9.05sINFOobjective_server_nodeFound path in 1 iterations (0.00302155 s). ×2 + 9.15sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X_____________X] ×2 + 9.21sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×3 + 9.22sINFOros2_control_node[2026-08-26 00:41:28.733] [info] Received new action goal ×2 + 9.22sINFOros2_control_node[2026-08-26 00:41:28.733] [info] Accepted new action goal ×2 + 9.44sINFOros2_control_nodeMuJoCo sim: 0.35% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 9.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.963062 ms (missed cycles : 2). + 9.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.963062 ms (missed cycles : 2).[0m ×2 + 10.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.884967 ms (missed cycles : 3). + 10.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.884967 ms (missed cycles : 3).[0m ×2 + 11.70sINFOros2_control_node[2026-08-26 00:41:31.205] [info] Received new action goal ×2 + 11.70sINFOros2_control_node[2026-08-26 00:41:31.205] [info] Accepted new action goal ×2 + 12.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.942158 ms (missed cycles : 3). + 12.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.942158 ms (missed cycles : 3).[0m ×2 + 13.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.055359 ms (missed cycles : 2). + 13.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.055359 ms (missed cycles : 2).[0m ×2 + 13.12sWARNros2_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 + 13.60sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 13.61sINFOros2_control_node[2026-08-26 00:41:33.119] [info] Received new action goal ×2 + 13.61sINFOros2_control_node[2026-08-26 00:41:33.119] [info] Accepted new action goal ×2 + 14.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.948271 ms (missed cycles : 3). + 14.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.948271 ms (missed cycles : 3).[0m ×2 + 14.46sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.47sINFOros2_control_node[2026-08-26 00:41:33.975] [info] Got request to cancel active goal. ×2 + 14.47sINFOros2_control_node[2026-08-26 00:41:33.975] [info] Canceling active goal... ×2 + 14.48sERRORobjective_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: 1787704893.99032760 seconds ×3 + 15.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.700170 ms (missed cycles : 4). + 15.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.700170 ms (missed cycles : 4).[0m ×2 + 15.16sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1787704894.67522645 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.33sINFOobjective_server_nodeFound path in 0 iterations (4.69e-07 s). ×2 + 15.34sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 15.35sINFOros2_control_node[2026-08-26 00:41:34.859] [info] Received new action goal ×2 + 15.35sINFOros2_control_node[2026-08-26 00:41:34.859] [info] Accepted new action goal ×2 + 16.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.905513 ms (missed cycles : 2). + 16.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.905513 ms (missed cycles : 2).[0m ×2 + 17.26sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 17.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.087150 ms (missed cycles : 5). + 17.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.087150 ms (missed cycles : 5).[0m ×2 | ||||
| ✓ passed | Cycle Between Waypoints | cycle_between_waypoints.xml | 10.8s | 3 errors · 54 warnings · 165 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.170394 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.170394 ms (missed cycles : 2).[0m ×2 + 0.51sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.51sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.02sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.03sINFOros2_control_node[2026-08-26 00:37:52.937] [info] Received new action goal ×2 + 1.03sINFOros2_control_node[2026-08-26 00:37:52.937] [info] Accepted new action goal ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.519845 ms (missed cycles : 2). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.519845 ms (missed cycles : 2).[0m ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.213313 ms (missed cycles : 2). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.213313 ms (missed cycles : 2).[0m ×2 + 2.42sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1787704674.32440400 seconds ×3 + 2.42sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 2.42sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.43sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.43sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 2.43sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.43sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.43sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.43sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.44sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 2.44sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 2.44sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 2.44sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 3.05sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1787704674.95295930 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.14sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1787704675.04309464 seconds ×3 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.286458 ms (missed cycles : 4). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.286458 ms (missed cycles : 4).[0m ×2 + 3.79sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1787704675.69568872 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.80sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×15 + 3.85sWARNros2_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 + 3.90sINFOobjective_server_nodeFound path in 0 iterations (3.43e-07 s). ×2 + 3.91sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.92sINFOros2_control_node[2026-08-26 00:37:55.830] [info] Received new action goal ×2 + 3.92sINFOros2_control_node[2026-08-26 00:37:55.830] [info] Accepted new action goal ×2 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.476733 ms (missed cycles : 3). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.476733 ms (missed cycles : 3).[0m ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.043051 ms (missed cycles : 2). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.043051 ms (missed cycles : 2).[0m ×2 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.656648 ms (missed cycles : 2). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.656648 ms (missed cycles : 2).[0m ×2 + 7.26sINFOobjective_server_nodeFound path in 0 iterations (4.36e-07 s). ×2 + 7.26sINFOobjective_server_nodePath shortcutter: [X_______X] ×6 + 7.27sINFOros2_control_node[2026-08-26 00:37:59.180] [info] Received new action goal ×2 + 7.27sINFOros2_control_node[2026-08-26 00:37:59.180] [info] Accepted new action goal ×2 + 7.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.616449 ms (missed cycles : 3). + 7.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.616449 ms (missed cycles : 3).[0m ×2 + 8.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.065668 ms (missed cycles : 2). + 8.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.065668 ms (missed cycles : 2).[0m ×2 + 9.61sINFOobjective_server_nodeFound path in 0 iterations (4.52e-07 s). ×2 + 9.62sINFOros2_control_node[2026-08-26 00:38:01.527] [info] Received new action goal ×2 + 9.62sINFOros2_control_node[2026-08-26 00:38:01.527] [info] Accepted new action goal ×2 + 9.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.343046 ms (missed cycles : 2). + 9.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.343046 ms (missed cycles : 2).[0m ×2 + 9.91sWARNros2_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 ×4 + 10.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.768512 ms (missed cycles : 2). + 10.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.768512 ms (missed cycles : 2).[0m ×2 + 11.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.866414 ms (missed cycles : 2). + 11.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.866414 ms (missed cycles : 2).[0m ×2 + 11.96sINFOobjective_server_nodeFound path in 0 iterations (4.13e-07 s). ×2 + 11.97sINFOros2_control_node[2026-08-26 00:38:03.877] [info] Received new action goal ×2 + 11.97sINFOros2_control_node[2026-08-26 00:38:03.877] [info] Accepted new action goal ×2 + 12.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.262469 ms (missed cycles : 4). + 12.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.262469 ms (missed cycles : 4).[0m ×2 + 13.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.243797 ms (missed cycles : 4). + 13.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.243797 ms (missed cycles : 4).[0m ×2 + 13.96sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 13.97sINFOros2_control_node[2026-08-26 00:38:05.876] [info] Got request to cancel active goal. ×2 + 13.97sINFOros2_control_node[2026-08-26 00:38:05.876] [info] Canceling active goal... ×2 + 13.98sERRORobjective_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: 1787704685.88838840 seconds ×3 + 14.63sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1787704686.53824353 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.144262 ms (missed cycles : 5). + 14.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.144262 ms (missed cycles : 5).[0m ×2 + 14.82sINFOobjective_server_nodeFound path in 0 iterations (4.2e-07 s). ×2 + 14.83sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 14.84sINFOros2_control_node[2026-08-26 00:38:06.747] [info] Received new action goal ×2 + 14.84sINFOros2_control_node[2026-08-26 00:38:06.747] [info] Accepted new action goal ×2 + 15.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.740946 ms (missed cycles : 2). + 15.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.740946 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Playback Square Trajectory | playback_square_trajectory.xml | 10.5s | 3 errors · 57 warnings · 91 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.273335 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.273335 ms (missed cycles : 2).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.000629 ms (missed cycles : 4). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.000629 ms (missed cycles : 4).[0m ×2 + 1.62sWARNros2_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 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.827701 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.827701 ms (missed cycles : 2).[0m ×2 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.523172 ms (missed cycles : 2). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.523172 ms (missed cycles : 2).[0m ×2 + 3.80sINFOobjective_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 + 3.81sERRORobjective_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: 1787704904.87578702 seconds ×3 + 3.84sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.84sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.84sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.84sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.84sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.84sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.85sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.85sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.85sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.85sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.86sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.86sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.278686 ms (missed cycles : 2). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.278686 ms (missed cycles : 2).[0m ×2 + 4.43sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1787704905.49770093 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.62sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.73sINFOobjective_server_nodeFound path in 0 iterations (3.62e-07 s). ×2 + 4.74sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 4.75sINFOros2_control_node[2026-08-26 00:41:45.824] [info] Received new action goal ×2 + 4.75sINFOros2_control_node[2026-08-26 00:41:45.824] [info] Accepted new action goal ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.395512 ms (missed cycles : 4). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.395512 ms (missed cycles : 4).[0m ×2 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.104932 ms (missed cycles : 4). + 6.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.104932 ms (missed cycles : 4).[0m ×2 + 7.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.003547 ms (missed cycles : 2). + 7.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.003547 ms (missed cycles : 2).[0m ×2 + 7.89sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.35 s); wrist_camera (1.35 s). The render path has stopped producing new frames for them.[0m ×2 + 8.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.987764 ms (missed cycles : 2). + 8.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.987764 ms (missed cycles : 2).[0m ×2 + 8.77sINFOros2_control_node[2026-08-26 00:41:49.836] [info] Received new action goal ×2 + 8.77sINFOros2_control_node[2026-08-26 00:41:49.836] [info] Accepted new action goal ×2 + 9.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.738777 ms (missed cycles : 5). + 9.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.738777 ms (missed cycles : 5).[0m ×2 + 10.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.627091 ms (missed cycles : 2). + 10.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.627091 ms (missed cycles : 2).[0m ×2 + 11.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.176353 ms (missed cycles : 4). + 11.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.176353 ms (missed cycles : 4).[0m ×2 + 12.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.705698 ms (missed cycles : 5). + 12.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.705698 ms (missed cycles : 5).[0m ×2 + 13.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.986644 ms (missed cycles : 2). + 13.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.986644 ms (missed cycles : 2).[0m ×2 + 14.36sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1787704915.42687631 seconds ×3 + 14.97sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1787704916.03746748 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.436208 ms (missed cycles : 2). + 15.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.436208 ms (missed cycles : 2).[0m ×2 + 15.10sINFOobjective_server_nodeFound path in 0 iterations (3.05e-07 s). ×2 + 15.10sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 15.11sINFOros2_control_node[2026-08-26 00:41:56.182] [info] Received new action goal ×2 + 15.11sINFOros2_control_node[2026-08-26 00:41:56.182] [info] Accepted new action goal ×2 + 16.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.427403 ms (missed cycles : 4). + 16.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.427403 ms (missed cycles : 4).[0m ×2 + 17.02sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 17.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.107383 ms (missed cycles : 2). + 17.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.107383 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | ML Segment Bottles from File | ml_segment_bottles_from_file.xml | 7.3s | 43 warnings · 179 info |
+ 0.00sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1787704720.76905942 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 + 0.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.04sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 0.05sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.05sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 0.06sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.06sINFOros2_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: 1787704720.83919740 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 + 0.67sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1787704721.43638110 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 (2.73e-07 s). ×2 + 0.78sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.79sINFOros2_control_node[2026-08-26 00:38:41.560] [info] Received new action goal ×2 + 0.79sINFOros2_control_node[2026-08-26 00:38:41.560] [info] Accepted new action goal ×2 + 0.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.707021 ms (missed cycles : 2). + 0.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.707021 ms (missed cycles : 2).[0m ×2 + 1.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.446453 ms (missed cycles : 3). + 1.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.446453 ms (missed cycles : 3).[0m ×2 + 2.80sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1787704723.56654644 seconds ×3 + 2.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.101619 ms (missed cycles : 2). + 2.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.101619 ms (missed cycles : 2).[0m ×2 + 4.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.888460 ms (missed cycles : 5). + 4.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.888460 ms (missed cycles : 5).[0m ×2 + 4.40sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1787704725.17173028 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.06sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.39 s); wrist_camera (1.39 s). The render path has stopped producing new frames for them.[0m ×2 + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.973251 ms (missed cycles : 4). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.973251 ms (missed cycles : 4).[0m ×2 + 6.12sINFOobjective_server_node[2026-08-26 00:38:46.884] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.143975 ms (missed cycles : 5). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.143975 ms (missed cycles : 5).[0m ×2 + 6.93sINFOobjective_server_node[0;93m2026-08-26 00:38:47.701485977 [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 + 6.93sINFOobjective_server_node[0;93m2026-08-26 00:38:47.701528773 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 7.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.870170 ms (missed cycles : 2). + 7.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.870170 ms (missed cycles : 2).[0m ×2 + 8.04sINFOobjective_server_node[2026-08-26 00:38:48.807] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 8.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.169397 ms (missed cycles : 2). + 8.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.169397 ms (missed cycles : 2).[0m ×2 + 8.57sINFOobjective_server_node[0;93m2026-08-26 00:38:49.341167829 [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 + 8.57sINFOobjective_server_node[0;93m2026-08-26 00:38:49.341203590 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 8.74sINFOobjective_server_node[2026-08-26 00:38:49.511] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 8.80sINFOobjective_server_node[0;93m2026-08-26 00:38:49.565634729 [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 + 8.80sINFOobjective_server_node[0;93m2026-08-26 00:38:49.569797775 [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 + 8.80sINFOobjective_server_node[0;93m2026-08-26 00:38:49.569824723 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 8.88sINFOobjective_server_node[2026-08-26 00:38:49.648] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 9.27sINFOobjective_server_node[0;93m2026-08-26 00:38:50.035227057 [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 + 9.29sINFOobjective_server_node[0;93m2026-08-26 00:38:50.062142533 [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 + 9.29sINFOobjective_server_node[0;93m2026-08-26 00:38:50.062183858 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 9.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.513342 ms (missed cycles : 3). + 9.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.513342 ms (missed cycles : 3).[0m ×2 + 10.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.043571 ms (missed cycles : 2). + 10.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.043571 ms (missed cycles : 2).[0m ×2 + 10.90sWARNros2_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 + 11.13sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1787704731.89526582 seconds ×3 + 11.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.191080 ms (missed cycles : 4). + 11.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.191080 ms (missed cycles : 4).[0m ×2 + 11.82sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1787704732.58832550 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 11.82sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 11.82sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 11.90sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 11.91sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 12.19sINFOobjective_server_nodeFound path in 0 iterations (3.22e-07 s). ×2 + 12.20sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 12.24sINFOros2_control_node[2026-08-26 00:38:53.005] [info] Received new action goal ×2 + 12.24sINFOros2_control_node[2026-08-26 00:38:53.005] [info] Accepted new action goal ×2 + 12.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.957973 ms (missed cycles : 2). + 12.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.957973 ms (missed cycles : 2).[0m ×2 + 13.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.711771 ms (missed cycles : 2). + 13.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.711771 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 2.723548 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.723548 ms (missed cycles : 2).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.425473 ms (missed cycles : 2). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.425473 ms (missed cycles : 2).[0m ×2 + 1.78sWARNros2_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 + 2.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.965536 ms (missed cycles : 3). + 2.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.965536 ms (missed cycles : 3).[0m ×2 + 3.04sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1787704720.10633326 seconds ×3 + 3.12sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.12sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.12sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.12sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.12sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.12sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.13sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.13sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.13sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.14sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.369136 ms (missed cycles : 3). + 3.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.369136 ms (missed cycles : 3).[0m ×2 + 3.70sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1787704720.76905942 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.74sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.74sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.75sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.75sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.77sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1787704720.83919740 seconds ×3 + 4.37sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1787704721.43638110 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.39sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.49sINFOobjective_server_nodeFound path in 0 iterations (2.73e-07 s). ×2 + 4.49sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.50sINFOros2_control_node[2026-08-26 00:38:41.560] [info] Received new action goal ×2 + 4.50sINFOros2_control_node[2026-08-26 00:38:41.560] [info] Accepted new action goal ×2 + 4.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.707021 ms (missed cycles : 2). + 4.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.707021 ms (missed cycles : 2).[0m ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.446453 ms (missed cycles : 3). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.446453 ms (missed cycles : 3).[0m ×2 + 6.50sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1787704723.56654644 seconds ×3 + 6.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.101619 ms (missed cycles : 2). + 6.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.101619 ms (missed cycles : 2).[0m ×2 + 7.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.888460 ms (missed cycles : 5). + 7.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.888460 ms (missed cycles : 5).[0m ×2 + 8.11sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1787704725.17173028 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 8.77sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.39 s); wrist_camera (1.39 s). The render path has stopped producing new frames for them.[0m ×2 + 8.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.973251 ms (missed cycles : 4). + 8.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.973251 ms (missed cycles : 4).[0m ×2 + 9.82sINFOobjective_server_node[2026-08-26 00:38:46.884] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 9.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.143975 ms (missed cycles : 5). + 9.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.143975 ms (missed cycles : 5).[0m ×2 + 10.64sINFOobjective_server_node[0;93m2026-08-26 00:38:47.701485977 [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 + 10.64sINFOobjective_server_node[0;93m2026-08-26 00:38:47.701528773 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 | ||||
| ✓ passed | Close Gripper | close_gripper.xml | 1.7s | 34 warnings · 542 info |
+ 0.00sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 0.21sINFOobjective_server_node[2026-08-26 00:37:18.232] [moveit_pro_license] [info] ×2 + 0.21sINFOobjective_server_node************************************************* ×4 + 0.21sINFOobjective_server_node* MoveIt Pro License ×2 + 0.21sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 0.33sINFOobjective_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 + 0.33sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 0.34sINFOobjective_server_nodeLoading 7 behavior loader plugin(s): ×2 + 0.35sINFOobjective_server_nodemoveit_pro::behaviors::MPCBehaviorsLoader ×2 + 0.35sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 0.35sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 0.35sINFOobjective_server_nodelab_sim_behaviors::LabSimBehaviorsLoader ×2 + 0.35sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 0.35sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 0.35sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 0.51sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 0.68sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 0.69sINFOcomponent_container_mt[2026-08-26 00:37:18.714] [moveit_pro_license] [info] ×2 + 0.69sINFOcomponent_container_mt************************************************* ×4 + 0.69sINFOcomponent_container_mt* MoveIt Pro License ×2 + 0.69sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 0.72sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 0.72sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 0.74sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 0.89sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 0.89sWARNros2_control_nodeNo keyframe specified, applying first keyframe to set initial state.[0m ×2 + 0.89sINFOros2_control_nodeResolved base link to MuJoCo body `world` (id 0) via URDF chain walk.[0m ×2 + 0.90sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 0.90sWARNros2_control_node16 MuJoCo bodies do not sit where the URDF places the same-named link. Sensor sites on these links are parented to an ancestor whose frames agree, so sensor frames stay correct, but the collision geometry MoveIt plans against does not match what MuJoCo simulates. Descendants inherit their ancestor's error, so correct the first link listed: ×2 + 0.90sINFOros2_control_nodebase: 0.0002 m, 3.1416 rad ×2 + 0.90sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 0.90sINFOros2_control_nodeshoulder_link: 0.0006 m, 3.1416 rad ×2 + 0.90sINFOros2_control_nodeupper_arm_link: 0.1380 m, 2.0944 rad ×2 + 0.90sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 0.90sINFOros2_control_nodeforearm_link: 0.0070 m, 2.0944 rad ×2 + 0.90sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 0.90sINFOros2_control_nodewrist_1_link: 0.1264 m, 1.5708 rad ×2 + 0.90sINFOros2_control_nodewrist_2_link: 0.1004 m, 0.0000 rad ×2 + 0.90sINFOros2_control_nodewrist_3_link: 0.1003 m, 1.5708 rad ×2 + 0.90sINFOros2_control_noderobotiq_85_base_link: 0.0073 m, 1.5708 rad ×2 + 0.90sINFOros2_control_noderobotiq_85_left_inner_knuckle_link: 0.0078 m, 1.5708 rad ×2 + 0.90sINFOros2_control_noderobotiq_85_left_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 0.90sINFOros2_control_noderobotiq_85_right_inner_knuckle_link: 0.0079 m, 1.5708 rad ×2 + 0.90sINFOros2_control_noderobotiq_85_right_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 0.90sINFOros2_control_noderobotiq_85_left_finger_link: 0.0076 m, 1.5708 rad ×2 + 0.90sINFOros2_control_noderobotiq_85_left_finger_tip_link: 0.1092 m, 2.0014 rad ×2 + 0.90sINFOros2_control_noderobotiq_85_right_finger_link: 0.0076 m, 1.5708 rad ×2 + 0.90sINFOros2_control_noderobotiq_85_right_finger_tip_link: 0.1096 m, 2.0014 rad[0m ×2 + 0.90sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 0.90sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 0.90sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 0.90sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 0.90sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 0.90sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 0.90sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 0.90sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 0.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684272 ms (missed cycles : 2). + 0.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684272 ms (missed cycles : 2).[0m ×2 + 0.95sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.95sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.95sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.95sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.95sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_wueeq6v7 --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_oh8pkndy --params-file /tmp/launch_params_u_iz44jq + 0.95sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_wueeq6v7 --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_oh8pkndy --params-file /tmp/launch_params_u_iz44jq [0m ×2 + 0.96sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.97sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.97sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.97sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.97sINFOforce_torque_sensor_broadcasterconfigure successful + 0.97sINFOros2_control_nodeconfigure successful[0m ×2 + 0.98sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.98sINFOcontroller_managerSuccessfully switched controllers! ×18 + 0.98sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.98sINFOros2_control_nodeSuccessfully switched controllers![0m ×36 + 0.98sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.98sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 1.27sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 1.27sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 1.27sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 1.27sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 1.28sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_wueeq6v7 --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_oh8pkndy --params-file /tmp/launch_params_u_iz44jq + 1.28sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_wueeq6v7 --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_oh8pkndy --params-file /tmp/launch_params_u_iz44jq [0m ×2 + 1.31sINFOros2-2process has finished cleanly [pid 8831] ×2 + 1.32sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 1.32sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 1.32sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 1.32sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 1.33sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 1.33sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 1.34sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 1.34sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 1.34sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 1.34sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 1.46sINFOros2_control_nodeMuJoCo offscreen rendering bound to EGL vendor 'Mesa Project' (1.5).[0m ×2 + 1.63sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.63sINFOcontroller_managerLoading controller 'velocity_force_controller' + 1.64sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.64sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 1.68sINFOros2-4process has finished cleanly [pid 8833] ×2 + 1.77sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_wueeq6v7 --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_oh8pkndy --params-file /tmp/launch_params_u_iz44jq + 1.77sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_wueeq6v7 --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_oh8pkndy --params-file /tmp/launch_params_u_iz44jq [0m ×2 + 1.82sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 1.82sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 1.83sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 1.83sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 1.83sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 1.85sINFOros2_control_node[2026-08-26 00:37:19.878] [info] Controller state will be published at 10 Hz. ×2 + 1.86sINFOros2_control_node[2026-08-26 00:37:19.879] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.86sWARNobjective_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 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.200500 ms (missed cycles : 5). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.200500 ms (missed cycles : 5).[0m ×2 + 2.22sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 2.22sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 2.22sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 2.22sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 2.23sINFOros2-7process has finished cleanly [pid 8836] ×2 + 2.30sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_wueeq6v7 --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_oh8pkndy --params-file /tmp/launch_params_u_iz44jq + 2.30sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_wueeq6v7 --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_oh8pkndy --params-file /tmp/launch_params_u_iz44jq [0m ×2 + 2.34sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 2.34sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 2.34sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 2.35sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 2.35sINFOros2_control_node[2026-08-26 00:37:20.369] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 2.35sINFOros2_control_node[2026-08-26 00:37:20.369] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 2.37sINFOros2_control_node[2026-08-26 00:37:20.394] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 2.37sINFOros2_control_node[2026-08-26 00:37:20.394] [info] Controller state will be published at 50 Hz. ×2 + 2.38sINFOros2_control_node[2026-08-26 00:37:20.405] [info] Registered `FollowJointTrajectory` action server. ×2 + 2.66sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 2.68sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 2.68sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 2.68sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 2.68sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 2.68sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_wueeq6v7 --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_oh8pkndy --params-file /tmp/launch_params_u_iz44jq + 2.68sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_wueeq6v7 --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_oh8pkndy --params-file /tmp/launch_params_u_iz44jq [0m ×2 + 2.73sINFOros2-6process has finished cleanly [pid 8835] ×2 + 2.74sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 2.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 2.75sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 2.75sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 2.75sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 2.75sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 2.75sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 2.75sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 2.75sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 2.75sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 2.75sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 2.75sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 2.76sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 2.76sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 2.76sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 2.76sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 2.76sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 2.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 2.77sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 2.77sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 3.08sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 3.08sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 3.09sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 3.09sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 3.09sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_wueeq6v7 --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_oh8pkndy --params-file /tmp/launch_params_u_iz44jq + 3.09sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_wueeq6v7 --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_oh8pkndy --params-file /tmp/launch_params_u_iz44jq [0m ×2 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.777980 ms (missed cycles : 2). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.777980 ms (missed cycles : 2).[0m ×2 + 3.10sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 3.10sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 3.11sINFOros2-5process has finished cleanly [pid 8834] ×2 + 3.14sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 3.14sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 3.14sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 3.14sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 3.14sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 3.14sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 3.14sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 3.14sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 3.15sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 3.15sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 3.29sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 3.41sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787704641.43127227 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.42sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787704641.44149327 seconds ×3 + 3.42sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 3.43sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.43sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 3.43sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 3.43sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.43sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 3.44sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 3.44sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 3.44sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 3.44sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 3.49sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 3.49sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 3.49sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 3.49sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 3.50sINFOros2-3process has finished cleanly [pid 8832] ×2 + 3.57sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_wueeq6v7 --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_oh8pkndy --params-file /tmp/launch_params_u_iz44jq + 3.57sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_wueeq6v7 --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_oh8pkndy --params-file /tmp/launch_params_u_iz44jq [0m ×2 + 3.61sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 3.61sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 3.62sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 3.62sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 3.65sINFOros2_control_node[2026-08-26 00:37:21.669] [info] Controller state will be published at 20 Hz. ×2 + 3.65sINFOros2_control_node[2026-08-26 00:37:21.670] [info] JointVelocityController 'on_configure' succeeded. ×2 + 3.99sINFOros2-8process has finished cleanly [pid 8837] ×2 + 4.01sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787704642.03547120 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 4.02sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 4.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.637015 ms (missed cycles : 2). + 4.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.637015 ms (missed cycles : 2).[0m ×2 + 5.07sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787704643.09561563 seconds ×3 + 5.35sWARNros2_control_nodeCamera render tick took 1.94 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 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.705710 ms (missed cycles : 2). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.705710 ms (missed cycles : 2).[0m ×2 + 5.71sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787704643.73021770 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.77sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787704643.79042387 seconds ×3 + 6.42sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787704644.44447231 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.44sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787704644.46460342 seconds ×3 + 6.63sWARNros2_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 + 6.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.154964 ms (missed cycles : 4). + 6.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.154964 ms (missed cycles : 4).[0m ×2 + 7.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787704645.06335068 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787704645.21389341 seconds ×3 + 7.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.505849 ms (missed cycles : 4). + 7.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.505849 ms (missed cycles : 4).[0m ×2 + 7.90sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787704645.92123270 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.92sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 7.92sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 7.93sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 7.94sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 7.94sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 7.95sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787704645.97136688 seconds ×3 | ||||
| ✓ passed | Take Scene Camera Snapshot | take_snap.xml | 1.3s | 3 errors · 28 warnings · 134 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879454 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879454 ms (missed cycles : 2).[0m ×2 + 0.90sWARNros2_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 ×4 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.807613 ms (missed cycles : 5). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.807613 ms (missed cycles : 5).[0m ×2 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.141660 ms (missed cycles : 4). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.141660 ms (missed cycles : 4).[0m ×2 + 3.06sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.07sINFOros2_control_node[2026-08-26 00:42:18.879] [info] Got request to cancel active goal. ×2 + 3.07sINFOros2_control_node[2026-08-26 00:42:18.879] [info] Canceling active goal... ×2 + 3.07sERRORobjective_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: 1787704938.88364267 seconds ×3 + 3.08sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.09sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.09sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 3.09sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.09sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 3.09sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.09sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 3.09sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.10sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.10sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.10sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.053315 ms (missed cycles : 3). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.053315 ms (missed cycles : 3).[0m ×2 + 3.67sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1787704939.47818398 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.387034 ms (missed cycles : 3). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.387034 ms (missed cycles : 3).[0m ×2 + 4.39sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1787704940.19831848 seconds ×3 + 5.02sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1787704940.83060384 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.02sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 5.02sINFOobjective_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 + 5.02sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 5.02sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1787704940.83352089 seconds ×3 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.912362 ms (missed cycles : 3). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.912362 ms (missed cycles : 3).[0m ×2 + 5.74sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1787704941.55166054 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.74sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1787704941.55217767 seconds ×3 + 6.36sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1787704942.16618228 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.785527 ms (missed cycles : 6). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.785527 ms (missed cycles : 6).[0m ×2 | ||||
| ✓ passed | Add Table to Planning Scene | add_table_to_planning_scene.xml | 0.8s | 3 errors · 20 warnings · 91 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.635281 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.635281 ms (missed cycles : 4).[0m ×2 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.586714 ms (missed cycles : 7). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.586714 ms (missed cycles : 7).[0m ×2 + 1.85sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.94sINFOobjective_server_nodeFound path in 0 iterations (3.14e-07 s). ×2 + 1.95sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 1.96sINFOros2_control_node[2026-08-26 00:37:36.307] [info] Received new action goal ×2 + 1.96sINFOros2_control_node[2026-08-26 00:37:36.307] [info] Accepted new action goal ×2 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.114367 ms (missed cycles : 5). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.114367 ms (missed cycles : 5).[0m ×2 + 2.46sWARNros2_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 + 2.63sINFOobjective_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 + 2.63sINFOros2_control_node[2026-08-26 00:37:36.973] [info] Got request to cancel active goal. ×2 + 2.63sINFOros2_control_node[2026-08-26 00:37:36.973] [info] Canceling active goal... ×2 + 2.64sERRORobjective_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: 1787704656.98841500 seconds ×3 + 2.70sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.70sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.70sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.70sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.71sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.71sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.71sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.71sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.72sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.72sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.72sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.72sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.29sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1787704657.63606811 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.40sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1787704657.74620533 seconds ×3 + 3.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668424 ms (missed cycles : 2). + 3.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668424 ms (missed cycles : 2).[0m ×2 + 4.03sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1787704658.37369323 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.03sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.03sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.22sINFOobjective_server_nodeFound path in 0 iterations (5.87e-07 s). ×2 + 4.22sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.23sINFOros2_control_node[2026-08-26 00:37:38.578] [info] Received new action goal ×2 + 4.23sINFOros2_control_node[2026-08-26 00:37:38.578] [info] Accepted new action goal ×2 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.211649 ms (missed cycles : 2). + 4.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.211649 ms (missed cycles : 2).[0m ×2 + 5.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.059816 ms (missed cycles : 2). + 5.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.059816 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Vector and String Example | vector_and_string_example.xml | 0.7s | 3 errors · 28 warnings · 137 info |
+ 0.00sWARNros2_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 ×4 + 0.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.807613 ms (missed cycles : 5). + 0.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.807613 ms (missed cycles : 5).[0m ×2 + 1.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.141660 ms (missed cycles : 4). + 1.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.141660 ms (missed cycles : 4).[0m ×2 + 2.16sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.17sINFOros2_control_node[2026-08-26 00:42:18.879] [info] Got request to cancel active goal. ×2 + 2.17sINFOros2_control_node[2026-08-26 00:42:18.879] [info] Canceling active goal... ×2 + 2.18sERRORobjective_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: 1787704938.88364267 seconds ×3 + 2.19sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.19sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.19sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 2.19sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.19sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 2.19sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.20sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.20sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.20sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.20sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.20sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.20sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.053315 ms (missed cycles : 3). + 2.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.053315 ms (missed cycles : 3).[0m ×2 + 2.77sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1787704939.47818398 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.387034 ms (missed cycles : 3). + 3.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.387034 ms (missed cycles : 3).[0m ×2 + 3.49sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1787704940.19831848 seconds ×3 + 4.12sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1787704940.83060384 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.13sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 4.13sINFOobjective_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 + 4.13sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 4.13sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1787704940.83352089 seconds ×3 + 4.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.912362 ms (missed cycles : 3). + 4.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.912362 ms (missed cycles : 3).[0m ×2 + 4.85sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1787704941.55166054 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.85sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1787704941.55217767 seconds ×3 + 5.46sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1787704942.16618228 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.785527 ms (missed cycles : 6). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.785527 ms (missed cycles : 6).[0m ×2 + 6.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.713029 ms (missed cycles : 2). + 6.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.713029 ms (missed cycles : 2).[0m ×2 + 6.63sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1787704943.33631110 seconds ×3 + 6.67sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 | ||||
| ✓ passed | Load MuJoCo Robot State | load_mujoco_robot_state.xml | 0.7s | 23 warnings · 100 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.723548 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.723548 ms (missed cycles : 2).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.425473 ms (missed cycles : 2). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.425473 ms (missed cycles : 2).[0m ×2 + 1.78sWARNros2_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 + 2.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.965536 ms (missed cycles : 3). + 2.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.965536 ms (missed cycles : 3).[0m ×2 + 3.04sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1787704720.10633326 seconds ×3 + 3.12sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 3.12sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.12sINFOcontroller_managerSuccessfully switched controllers! ×6 + 3.12sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 3.12sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.12sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 3.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 3.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.13sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 3.13sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 3.13sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 3.14sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 3.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.369136 ms (missed cycles : 3). + 3.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.369136 ms (missed cycles : 3).[0m ×2 + 3.70sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1787704720.76905942 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.74sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.74sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.75sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.75sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.77sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1787704720.83919740 seconds ×3 + 4.37sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1787704721.43638110 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.39sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.49sINFOobjective_server_nodeFound path in 0 iterations (2.73e-07 s). ×2 + 4.49sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.50sINFOros2_control_node[2026-08-26 00:38:41.560] [info] Received new action goal ×2 + 4.50sINFOros2_control_node[2026-08-26 00:38:41.560] [info] Accepted new action goal ×2 + 4.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.707021 ms (missed cycles : 2). + 4.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.707021 ms (missed cycles : 2).[0m ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.446453 ms (missed cycles : 3). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.446453 ms (missed cycles : 3).[0m ×2 + 6.50sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1787704723.56654644 seconds ×3 + 6.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.101619 ms (missed cycles : 2). + 6.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.101619 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Clear Previous Obstacles | clear_previous_obstacles.xml | 0.7s | 23 warnings · 87 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.360012 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.360012 ms (missed cycles : 6).[0m ×2 + 0.13sINFOros2_control_node[2026-08-26 00:37:51.026] [info] Received new action goal ×2 + 0.13sINFOros2_control_node[2026-08-26 00:37:51.026] [info] Accepted new action goal ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.170394 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.170394 ms (missed cycles : 2).[0m ×2 + 1.52sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.52sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.03sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.04sINFOros2_control_node[2026-08-26 00:37:52.937] [info] Received new action goal ×2 + 2.04sINFOros2_control_node[2026-08-26 00:37:52.937] [info] Accepted new action goal ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.519845 ms (missed cycles : 2). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.519845 ms (missed cycles : 2).[0m ×2 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.213313 ms (missed cycles : 2). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.213313 ms (missed cycles : 2).[0m ×2 + 3.42sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1787704674.32440400 seconds ×3 + 3.43sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.43sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.43sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.43sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.43sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.43sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.44sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.44sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.44sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.44sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.45sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.45sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 4.05sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1787704674.95295930 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.14sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1787704675.04309464 seconds ×3 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.286458 ms (missed cycles : 4). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.286458 ms (missed cycles : 4).[0m ×2 + 4.79sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1787704675.69568872 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.81sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.86sWARNros2_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 + 4.91sINFOobjective_server_nodeFound path in 0 iterations (3.43e-07 s). ×2 + 4.92sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.93sINFOros2_control_node[2026-08-26 00:37:55.830] [info] Received new action goal ×2 + 4.93sINFOros2_control_node[2026-08-26 00:37:55.830] [info] Accepted new action goal ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.476733 ms (missed cycles : 3). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.476733 ms (missed cycles : 3).[0m ×2 + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.043051 ms (missed cycles : 2). + 6.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.043051 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Reset MuJoCo Robot | reset_mujoco_robot.xml | 0.7s | 3 errors · 23 warnings · 134 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.874873 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.874873 ms (missed cycles : 3).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.512915 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.512915 ms (missed cycles : 3).[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.209664 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.209664 ms (missed cycles : 2).[0m ×2 + 2.96sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.96sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1787704926.37784004 seconds ×3 + 3.03sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.03sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.03sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.04sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.04sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.04sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.04sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.037102 ms (missed cycles : 4). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.037102 ms (missed cycles : 4).[0m ×2 + 3.25sWARNros2_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 + 3.61sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1787704927.02777100 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.66sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.66sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.68sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.68sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.69sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1787704927.10790443 seconds ×3 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.740558 ms (missed cycles : 2). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.740558 ms (missed cycles : 2).[0m ×2 + 4.30sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1787704927.71018672 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.32sINFOobjective_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 + 4.32sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1787704927.73234153 seconds ×3 + 5.03sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1787704928.44902873 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.05sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.14sINFOobjective_server_nodeFound path in 0 iterations (3.88e-07 s). ×2 + 5.14sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 5.16sINFOros2_control_node[2026-08-26 00:42:08.573] [info] Received new action goal ×2 + 5.16sINFOros2_control_node[2026-08-26 00:42:08.573] [info] Accepted new action goal ×2 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.049554 ms (missed cycles : 4). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.049554 ms (missed cycles : 4).[0m ×2 + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.891079 ms (missed cycles : 3). + 6.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.891079 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Open Gripper | open_gripper.xml | 0.7s | 30 warnings · 406 info |
+ 0.00sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.00sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.00sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.05sINFOros2-4process has finished cleanly [pid 8833] ×2 + 0.13sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_wueeq6v7 --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_oh8pkndy --params-file /tmp/launch_params_u_iz44jq + 0.13sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_wueeq6v7 --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_oh8pkndy --params-file /tmp/launch_params_u_iz44jq [0m ×2 + 0.19sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.19sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.19sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.19sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.20sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 0.22sINFOros2_control_node[2026-08-26 00:37:19.878] [info] Controller state will be published at 10 Hz. ×2 + 0.22sINFOros2_control_node[2026-08-26 00:37:19.879] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.22sWARNobjective_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 + 0.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.200500 ms (missed cycles : 5). + 0.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.200500 ms (missed cycles : 5).[0m ×2 + 0.59sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 0.59sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 0.59sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 0.59sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 0.59sINFOros2-7process has finished cleanly [pid 8836] ×2 + 0.66sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_wueeq6v7 --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_oh8pkndy --params-file /tmp/launch_params_u_iz44jq + 0.66sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_wueeq6v7 --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_oh8pkndy --params-file /tmp/launch_params_u_iz44jq [0m ×2 + 0.71sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.71sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 0.71sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 0.71sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 0.71sINFOros2_control_node[2026-08-26 00:37:20.369] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.71sINFOros2_control_node[2026-08-26 00:37:20.369] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.74sINFOros2_control_node[2026-08-26 00:37:20.394] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.74sINFOros2_control_node[2026-08-26 00:37:20.394] [info] Controller state will be published at 50 Hz. ×2 + 0.75sINFOros2_control_node[2026-08-26 00:37:20.405] [info] Registered `FollowJointTrajectory` action server. ×2 + 1.03sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 1.04sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 1.04sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 1.04sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 1.04sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 1.05sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_wueeq6v7 --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_oh8pkndy --params-file /tmp/launch_params_u_iz44jq + 1.05sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_wueeq6v7 --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_oh8pkndy --params-file /tmp/launch_params_u_iz44jq [0m ×2 + 1.10sINFOros2-6process has finished cleanly [pid 8835] ×2 + 1.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 1.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 1.12sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 1.12sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 1.12sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 1.12sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 1.12sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 1.12sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 1.12sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 1.12sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 1.12sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 1.12sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 1.13sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 1.13sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 1.13sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 1.13sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 1.13sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 1.13sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 1.13sINFOcontroller_managerSuccessfully switched controllers! ×17 + 1.13sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 1.14sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 1.14sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 1.45sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 1.45sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 1.45sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 1.45sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 1.45sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_wueeq6v7 --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_oh8pkndy --params-file /tmp/launch_params_u_iz44jq + 1.45sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_wueeq6v7 --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_oh8pkndy --params-file /tmp/launch_params_u_iz44jq [0m ×2 + 1.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.777980 ms (missed cycles : 2). + 1.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.777980 ms (missed cycles : 2).[0m ×2 + 1.47sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 1.47sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 1.48sINFOros2-5process has finished cleanly [pid 8834] ×2 + 1.50sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 1.50sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 1.50sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 1.51sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 1.51sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 1.51sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 1.51sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 1.51sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 1.52sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 1.52sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 1.66sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 1.77sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787704641.43127227 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.78sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787704641.44149327 seconds ×3 + 1.79sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.79sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 1.79sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.79sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 1.79sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 1.79sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 1.80sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.80sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.81sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.81sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.86sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.86sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 1.86sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.86sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 1.86sINFOros2-3process has finished cleanly [pid 8832] ×2 + 1.93sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_wueeq6v7 --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_oh8pkndy --params-file /tmp/launch_params_u_iz44jq + 1.93sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_wueeq6v7 --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_oh8pkndy --params-file /tmp/launch_params_u_iz44jq [0m ×2 + 1.98sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 1.98sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 1.98sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 1.98sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 2.01sINFOros2_control_node[2026-08-26 00:37:21.669] [info] Controller state will be published at 20 Hz. ×2 + 2.01sINFOros2_control_node[2026-08-26 00:37:21.670] [info] JointVelocityController 'on_configure' succeeded. ×2 + 2.36sINFOros2-8process has finished cleanly [pid 8837] ×2 + 2.38sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787704642.03547120 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.38sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.38sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.637015 ms (missed cycles : 2). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.637015 ms (missed cycles : 2).[0m ×2 + 3.44sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787704643.09561563 seconds ×3 + 3.72sWARNros2_control_nodeCamera render tick took 1.94 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 + 4.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.705710 ms (missed cycles : 2). + 4.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.705710 ms (missed cycles : 2).[0m ×2 + 4.07sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787704643.73021770 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.13sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787704643.79042387 seconds ×3 + 4.78sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787704644.44447231 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.81sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787704644.46460342 seconds ×3 + 5.00sWARNros2_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 + 5.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.154964 ms (missed cycles : 4). + 5.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.154964 ms (missed cycles : 4).[0m ×2 + 5.40sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787704645.06335068 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.55sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787704645.21389341 seconds ×3 + 6.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.505849 ms (missed cycles : 4). + 6.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.505849 ms (missed cycles : 4).[0m ×2 + 6.26sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787704645.92123270 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.29sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 6.29sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 6.30sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 6.30sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 6.30sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 6.31sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787704645.97136688 seconds ×3 + 6.92sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787704646.58259773 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.94sINFOobjective_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 + 6.94sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.94sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.94sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.94sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.94sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.94sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 7.04sINFOobjective_server_nodeFound path in 0 iterations (2.4174e-05 s). ×2 + 7.04sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 7.06sINFOros2_control_node[2026-08-26 00:37:26.719] [info] Received new action goal ×2 + 7.06sINFOros2_control_node[2026-08-26 00:37:26.719] [info] Accepted new action goal ×2 + 7.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.198650 ms (missed cycles : 5). + 7.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.198650 ms (missed cycles : 5).[0m ×2 | ||||
| ✓ passed | Save Robot Joint State | save_robot_joint_state.xml | 0.6s | 3 errors · 26 warnings · 134 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.874873 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.874873 ms (missed cycles : 3).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.512915 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.512915 ms (missed cycles : 3).[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.209664 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.209664 ms (missed cycles : 2).[0m ×2 + 2.96sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.96sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1787704926.37784004 seconds ×3 + 3.03sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.03sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.03sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.04sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.04sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.04sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.04sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.037102 ms (missed cycles : 4). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.037102 ms (missed cycles : 4).[0m ×2 + 3.25sWARNros2_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 + 3.61sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1787704927.02777100 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.66sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.66sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.68sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.68sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.69sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1787704927.10790443 seconds ×3 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.740558 ms (missed cycles : 2). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.740558 ms (missed cycles : 2).[0m ×2 + 4.30sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1787704927.71018672 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.32sINFOobjective_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 + 4.32sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1787704927.73234153 seconds ×3 + 5.03sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1787704928.44902873 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.05sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.14sINFOobjective_server_nodeFound path in 0 iterations (3.88e-07 s). ×2 + 5.14sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 5.16sINFOros2_control_node[2026-08-26 00:42:08.573] [info] Received new action goal ×2 + 5.16sINFOros2_control_node[2026-08-26 00:42:08.573] [info] Accepted new action goal ×2 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.049554 ms (missed cycles : 4). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.049554 ms (missed cycles : 4).[0m ×2 + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.891079 ms (missed cycles : 3). + 6.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.891079 ms (missed cycles : 3).[0m ×2 + 7.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.238440 ms (missed cycles : 3). + 7.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.238440 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Visualize Grasp Link | visualize_grasp_link.xml | 0.6s | 3 errors · 26 warnings · 137 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.141660 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.141660 ms (missed cycles : 4).[0m ×2 + 0.87sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.88sINFOros2_control_node[2026-08-26 00:42:18.879] [info] Got request to cancel active goal. ×2 + 0.88sINFOros2_control_node[2026-08-26 00:42:18.879] [info] Canceling active goal... ×2 + 0.88sERRORobjective_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: 1787704938.88364267 seconds ×3 + 0.89sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.89sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.89sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 0.89sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.89sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 0.89sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.90sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.90sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.90sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.90sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.91sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.91sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.053315 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.053315 ms (missed cycles : 3).[0m ×2 + 1.47sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1787704939.47818398 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.387034 ms (missed cycles : 3). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.387034 ms (missed cycles : 3).[0m ×2 + 2.19sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1787704940.19831848 seconds ×3 + 2.83sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1787704940.83060384 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 2.83sINFOobjective_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 + 2.83sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 2.83sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1787704940.83352089 seconds ×3 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.912362 ms (missed cycles : 3). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.912362 ms (missed cycles : 3).[0m ×2 + 3.55sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1787704941.55166054 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.55sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1787704941.55217767 seconds ×3 + 3.72sWARNros2_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 + 4.16sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1787704942.16618228 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.785527 ms (missed cycles : 6). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.785527 ms (missed cycles : 6).[0m ×2 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.713029 ms (missed cycles : 2). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.713029 ms (missed cycles : 2).[0m ×2 + 5.33sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1787704943.33631110 seconds ×3 + 5.37sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.497361 ms (missed cycles : 3). + 6.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.497361 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | ML Segment Image Loop | ml_segment_image_loop.xml | 0.1s | 20 warnings · 73 info |
+ 0.00sINFOobjective_server_node[2026-08-26 00:38:48.807] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 0.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.169397 ms (missed cycles : 2). + 0.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.169397 ms (missed cycles : 2).[0m ×2 + 0.53sINFOobjective_server_node[0;93m2026-08-26 00:38:49.341167829 [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 + 0.53sINFOobjective_server_node[0;93m2026-08-26 00:38:49.341203590 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 0.70sINFOobjective_server_node[2026-08-26 00:38:49.511] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 0.76sINFOobjective_server_node[0;93m2026-08-26 00:38:49.565634729 [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 + 0.76sINFOobjective_server_node[0;93m2026-08-26 00:38:49.569797775 [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 + 0.76sINFOobjective_server_node[0;93m2026-08-26 00:38:49.569824723 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 0.84sINFOobjective_server_node[2026-08-26 00:38:49.648] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.23sINFOobjective_server_node[0;93m2026-08-26 00:38:50.035227057 [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 + 1.26sINFOobjective_server_node[0;93m2026-08-26 00:38:50.062142533 [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 + 1.26sINFOobjective_server_node[0;93m2026-08-26 00:38:50.062183858 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.513342 ms (missed cycles : 3). + 1.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.513342 ms (missed cycles : 3).[0m ×2 + 2.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.043571 ms (missed cycles : 2). + 2.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.043571 ms (missed cycles : 2).[0m ×2 + 2.86sWARNros2_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 + 3.09sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1787704731.89526582 seconds ×3 + 3.17sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.17sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.17sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.17sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.18sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.18sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.18sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.18sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.19sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.19sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.19sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.191080 ms (missed cycles : 4). + 3.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.191080 ms (missed cycles : 4).[0m ×2 + 3.78sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1787704732.58832550 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.78sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.78sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.86sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.87sINFOobjective_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 + 4.15sINFOobjective_server_nodeFound path in 0 iterations (3.22e-07 s). ×2 + 4.16sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.18sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.20sINFOros2_control_node[2026-08-26 00:38:53.005] [info] Received new action goal ×2 + 4.20sINFOros2_control_node[2026-08-26 00:38:53.005] [info] Accepted new action goal ×2 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.957973 ms (missed cycles : 2). + 4.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.957973 ms (missed cycles : 2).[0m ×2 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.711771 ms (missed cycles : 2). + 5.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.711771 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Register CAD Part Subtree | register_cad_part_subtree.xml | 0.0s | 3 errors · 20 warnings · 131 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.874873 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.874873 ms (missed cycles : 3).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.512915 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.512915 ms (missed cycles : 3).[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.209664 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.209664 ms (missed cycles : 2).[0m ×2 + 2.96sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.96sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1787704926.37784004 seconds ×3 + 3.03sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.03sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.03sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.04sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.04sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.04sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.04sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.037102 ms (missed cycles : 4). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.037102 ms (missed cycles : 4).[0m ×2 + 3.25sWARNros2_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 + 3.61sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1787704927.02777100 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.66sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.66sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.68sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.68sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.69sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1787704927.10790443 seconds ×3 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.740558 ms (missed cycles : 2). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.740558 ms (missed cycles : 2).[0m ×2 + 4.30sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1787704927.71018672 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.32sINFOobjective_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 + 4.32sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1787704927.73234153 seconds ×3 + 5.03sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1787704928.44902873 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.05sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.14sINFOobjective_server_nodeFound path in 0 iterations (3.88e-07 s). ×2 + 5.14sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 5.16sINFOros2_control_node[2026-08-26 00:42:08.573] [info] Received new action goal ×2 + 5.16sINFOros2_control_node[2026-08-26 00:42:08.573] [info] Accepted new action goal ×2 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.049554 ms (missed cycles : 4). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.049554 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Add Point Cloud to Vector | add_point_cloud_to_vector.xml | 0.0s | 3 errors · 20 warnings · 91 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.635281 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.635281 ms (missed cycles : 4).[0m ×2 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.586714 ms (missed cycles : 7). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.586714 ms (missed cycles : 7).[0m ×2 + 1.85sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.94sINFOobjective_server_nodeFound path in 0 iterations (3.14e-07 s). ×2 + 1.95sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 1.96sINFOros2_control_node[2026-08-26 00:37:36.307] [info] Received new action goal ×2 + 1.96sINFOros2_control_node[2026-08-26 00:37:36.307] [info] Accepted new action goal ×2 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.114367 ms (missed cycles : 5). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.114367 ms (missed cycles : 5).[0m ×2 + 2.46sWARNros2_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 + 2.63sINFOobjective_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 + 2.63sINFOros2_control_node[2026-08-26 00:37:36.973] [info] Got request to cancel active goal. ×2 + 2.63sINFOros2_control_node[2026-08-26 00:37:36.973] [info] Canceling active goal... ×2 + 2.64sERRORobjective_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: 1787704656.98841500 seconds ×3 + 2.70sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.70sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.70sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.70sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.71sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.71sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.71sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.71sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.72sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.72sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.72sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.72sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.29sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1787704657.63606811 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.40sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1787704657.74620533 seconds ×3 + 3.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668424 ms (missed cycles : 2). + 3.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668424 ms (missed cycles : 2).[0m ×2 + 4.03sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1787704658.37369323 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.03sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.03sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.22sINFOobjective_server_nodeFound path in 0 iterations (5.87e-07 s). ×2 + 4.22sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.23sINFOros2_control_node[2026-08-26 00:37:38.578] [info] Received new action goal ×2 + 4.23sINFOros2_control_node[2026-08-26 00:37:38.578] [info] Accepted new action goal ×2 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.211649 ms (missed cycles : 2). + 4.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.211649 ms (missed cycles : 2).[0m ×2 + 5.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.059816 ms (missed cycles : 2). + 5.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.059816 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Add Waypoints to MTC Task | add_waypoints_to_mtc_task.xml | 0.0s | 3 errors · 20 warnings · 91 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.635281 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.635281 ms (missed cycles : 4).[0m ×2 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.586714 ms (missed cycles : 7). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.586714 ms (missed cycles : 7).[0m ×2 + 1.85sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.94sINFOobjective_server_nodeFound path in 0 iterations (3.14e-07 s). ×2 + 1.95sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 1.96sINFOros2_control_node[2026-08-26 00:37:36.307] [info] Received new action goal ×2 + 1.96sINFOros2_control_node[2026-08-26 00:37:36.307] [info] Accepted new action goal ×2 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.114367 ms (missed cycles : 5). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.114367 ms (missed cycles : 5).[0m ×2 + 2.46sWARNros2_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 + 2.63sINFOobjective_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 + 2.63sINFOros2_control_node[2026-08-26 00:37:36.973] [info] Got request to cancel active goal. ×2 + 2.63sINFOros2_control_node[2026-08-26 00:37:36.973] [info] Canceling active goal... ×2 + 2.64sERRORobjective_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: 1787704656.98841500 seconds ×3 + 2.70sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.70sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.70sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.70sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.71sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.71sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.71sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.71sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.72sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.72sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.72sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.72sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.29sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1787704657.63606811 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.40sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1787704657.74620533 seconds ×3 + 3.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668424 ms (missed cycles : 2). + 3.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668424 ms (missed cycles : 2).[0m ×2 + 4.03sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1787704658.37369323 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.03sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.03sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.22sINFOobjective_server_nodeFound path in 0 iterations (5.87e-07 s). ×2 + 4.22sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.23sINFOros2_control_node[2026-08-26 00:37:38.578] [info] Received new action goal ×2 + 4.23sINFOros2_control_node[2026-08-26 00:37:38.578] [info] Accepted new action goal ×2 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.211649 ms (missed cycles : 2). + 4.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.211649 ms (missed cycles : 2).[0m ×2 + 5.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.059816 ms (missed cycles : 2). + 5.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.059816 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Collect Training Data with Behaviors | collect_training_data_with_behaviors.xml | 0.0s | 20 warnings · 83 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.170394 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.170394 ms (missed cycles : 2).[0m ×2 + 0.51sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.51sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.02sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.03sINFOros2_control_node[2026-08-26 00:37:52.937] [info] Received new action goal ×2 + 1.03sINFOros2_control_node[2026-08-26 00:37:52.937] [info] Accepted new action goal ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.519845 ms (missed cycles : 2). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.519845 ms (missed cycles : 2).[0m ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.213313 ms (missed cycles : 2). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.213313 ms (missed cycles : 2).[0m ×2 + 2.42sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1787704674.32440400 seconds ×3 + 2.42sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.42sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.43sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.43sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.43sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.43sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.43sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.43sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.44sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.44sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.44sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.44sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.05sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1787704674.95295930 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.14sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1787704675.04309464 seconds ×3 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.286458 ms (missed cycles : 4). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.286458 ms (missed cycles : 4).[0m ×2 + 3.79sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1787704675.69568872 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.80sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.85sWARNros2_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 + 3.90sINFOobjective_server_nodeFound path in 0 iterations (3.43e-07 s). ×2 + 3.91sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.92sINFOros2_control_node[2026-08-26 00:37:55.830] [info] Received new action goal ×2 + 3.92sINFOros2_control_node[2026-08-26 00:37:55.830] [info] Accepted new action goal ×2 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.476733 ms (missed cycles : 3). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.476733 ms (missed cycles : 3).[0m ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.043051 ms (missed cycles : 2). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.043051 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Create Pose Vector | create_pose_vector.xml | 0.0s | 20 warnings · 83 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.170394 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.170394 ms (missed cycles : 2).[0m ×2 + 0.51sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.51sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.02sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.03sINFOros2_control_node[2026-08-26 00:37:52.937] [info] Received new action goal ×2 + 1.03sINFOros2_control_node[2026-08-26 00:37:52.937] [info] Accepted new action goal ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.519845 ms (missed cycles : 2). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.519845 ms (missed cycles : 2).[0m ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.213313 ms (missed cycles : 2). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.213313 ms (missed cycles : 2).[0m ×2 + 2.42sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1787704674.32440400 seconds ×3 + 2.42sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.42sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.43sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.43sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.43sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.43sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.43sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.43sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.44sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.44sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.44sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.44sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.05sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1787704674.95295930 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.14sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1787704675.04309464 seconds ×3 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.286458 ms (missed cycles : 4). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.286458 ms (missed cycles : 4).[0m ×2 + 3.79sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1787704675.69568872 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.80sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.85sWARNros2_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 + 3.90sINFOobjective_server_nodeFound path in 0 iterations (3.43e-07 s). ×2 + 3.91sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.92sINFOros2_control_node[2026-08-26 00:37:55.830] [info] Received new action goal ×2 + 3.92sINFOros2_control_node[2026-08-26 00:37:55.830] [info] Accepted new action goal ×2 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.476733 ms (missed cycles : 3). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.476733 ms (missed cycles : 3).[0m ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.043051 ms (missed cycles : 2). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.043051 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | ErrorCheckVectorSize | errorcheckvectorsize.xml | 0.0s | 3 errors · 20 warnings · 60 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.768512 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.768512 ms (missed cycles : 2).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.866414 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.866414 ms (missed cycles : 2).[0m ×2 + 1.22sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.30sINFOobjective_server_nodeFound path in 0 iterations (4.13e-07 s). ×2 + 1.31sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.31sINFOros2_control_node[2026-08-26 00:38:03.877] [info] Received new action goal ×2 + 1.31sINFOros2_control_node[2026-08-26 00:38:03.877] [info] Accepted new action goal ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.262469 ms (missed cycles : 4). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.262469 ms (missed cycles : 4).[0m ×2 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.243797 ms (missed cycles : 4). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.243797 ms (missed cycles : 4).[0m ×2 + 3.30sINFOobjective_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 + 3.31sINFOros2_control_node[2026-08-26 00:38:05.876] [info] Got request to cancel active goal. ×2 + 3.31sINFOros2_control_node[2026-08-26 00:38:05.876] [info] Canceling active goal... ×2 + 3.32sERRORobjective_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: 1787704685.88838840 seconds ×3 + 3.37sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.37sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.37sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.37sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.37sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.37sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.38sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.38sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.38sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.38sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.39sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.39sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.97sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1787704686.53824353 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.97sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.98sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.144262 ms (missed cycles : 5). + 4.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.144262 ms (missed cycles : 5).[0m ×2 + 4.17sINFOobjective_server_nodeFound path in 0 iterations (4.2e-07 s). ×2 + 4.17sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.18sINFOros2_control_node[2026-08-26 00:38:06.747] [info] Received new action goal ×2 + 4.18sINFOros2_control_node[2026-08-26 00:38:06.747] [info] Accepted new action goal ×2 + 5.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.740946 ms (missed cycles : 2). + 5.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.740946 ms (missed cycles : 2).[0m ×2 + 6.04sWARNros2_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 | ||||
| − skipped | Force Relaxation | force_relaxation.xml | 0.0s | 3 errors · 20 warnings · 60 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.768512 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.768512 ms (missed cycles : 2).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.866414 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.866414 ms (missed cycles : 2).[0m ×2 + 1.22sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.30sINFOobjective_server_nodeFound path in 0 iterations (4.13e-07 s). ×2 + 1.31sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.31sINFOros2_control_node[2026-08-26 00:38:03.877] [info] Received new action goal ×2 + 1.31sINFOros2_control_node[2026-08-26 00:38:03.877] [info] Accepted new action goal ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.262469 ms (missed cycles : 4). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.262469 ms (missed cycles : 4).[0m ×2 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.243797 ms (missed cycles : 4). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.243797 ms (missed cycles : 4).[0m ×2 + 3.30sINFOobjective_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 + 3.31sINFOros2_control_node[2026-08-26 00:38:05.876] [info] Got request to cancel active goal. ×2 + 3.31sINFOros2_control_node[2026-08-26 00:38:05.876] [info] Canceling active goal... ×2 + 3.32sERRORobjective_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: 1787704685.88838840 seconds ×3 + 3.37sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.37sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.37sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.37sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.37sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.37sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.38sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.38sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.38sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.38sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.39sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.39sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.97sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1787704686.53824353 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.97sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.98sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.144262 ms (missed cycles : 5). + 4.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.144262 ms (missed cycles : 5).[0m ×2 + 4.17sINFOobjective_server_nodeFound path in 0 iterations (4.2e-07 s). ×2 + 4.17sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.18sINFOros2_control_node[2026-08-26 00:38:06.747] [info] Received new action goal ×2 + 4.18sINFOros2_control_node[2026-08-26 00:38:06.747] [info] Accepted new action goal ×2 + 5.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.740946 ms (missed cycles : 2). + 5.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.740946 ms (missed cycles : 2).[0m ×2 + 6.04sWARNros2_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 | ||||
| − skipped | Fuse Multiple Views Subtree | fuse_multiple_views_subtree.xml | 0.0s | 3 errors · 20 warnings · 60 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.768512 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.768512 ms (missed cycles : 2).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.866414 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.866414 ms (missed cycles : 2).[0m ×2 + 1.22sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.30sINFOobjective_server_nodeFound path in 0 iterations (4.13e-07 s). ×2 + 1.31sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.31sINFOros2_control_node[2026-08-26 00:38:03.877] [info] Received new action goal ×2 + 1.31sINFOros2_control_node[2026-08-26 00:38:03.877] [info] Accepted new action goal ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.262469 ms (missed cycles : 4). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.262469 ms (missed cycles : 4).[0m ×2 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.243797 ms (missed cycles : 4). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.243797 ms (missed cycles : 4).[0m ×2 + 3.30sINFOobjective_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 + 3.31sINFOros2_control_node[2026-08-26 00:38:05.876] [info] Got request to cancel active goal. ×2 + 3.31sINFOros2_control_node[2026-08-26 00:38:05.876] [info] Canceling active goal... ×2 + 3.32sERRORobjective_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: 1787704685.88838840 seconds ×3 + 3.37sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.37sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.37sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.37sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.37sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.37sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.38sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.38sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.38sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.38sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.39sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.39sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.97sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1787704686.53824353 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.97sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.98sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.144262 ms (missed cycles : 5). + 4.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.144262 ms (missed cycles : 5).[0m ×2 + 4.17sINFOobjective_server_nodeFound path in 0 iterations (4.2e-07 s). ×2 + 4.17sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.18sINFOros2_control_node[2026-08-26 00:38:06.747] [info] Received new action goal ×2 + 4.18sINFOros2_control_node[2026-08-26 00:38:06.747] [info] Accepted new action goal ×2 + 5.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.740946 ms (missed cycles : 2). + 5.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.740946 ms (missed cycles : 2).[0m ×2 + 6.04sWARNros2_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 | ||||
| − skipped | Get Bottle Grasp via ICP Subtree | get_bottle_grasp_via_icp_subtree.xml | 0.0s | 3 errors · 20 warnings · 60 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.768512 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.768512 ms (missed cycles : 2).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.866414 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.866414 ms (missed cycles : 2).[0m ×2 + 1.22sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.30sINFOobjective_server_nodeFound path in 0 iterations (4.13e-07 s). ×2 + 1.31sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.31sINFOros2_control_node[2026-08-26 00:38:03.877] [info] Received new action goal ×2 + 1.31sINFOros2_control_node[2026-08-26 00:38:03.877] [info] Accepted new action goal ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.262469 ms (missed cycles : 4). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.262469 ms (missed cycles : 4).[0m ×2 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.243797 ms (missed cycles : 4). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.243797 ms (missed cycles : 4).[0m ×2 + 3.30sINFOobjective_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 + 3.31sINFOros2_control_node[2026-08-26 00:38:05.876] [info] Got request to cancel active goal. ×2 + 3.31sINFOros2_control_node[2026-08-26 00:38:05.876] [info] Canceling active goal... ×2 + 3.32sERRORobjective_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: 1787704685.88838840 seconds ×3 + 3.37sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.37sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.37sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.37sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.37sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.37sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.38sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.38sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.38sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.38sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.39sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.39sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.97sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1787704686.53824353 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.97sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.98sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.144262 ms (missed cycles : 5). + 4.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.144262 ms (missed cycles : 5).[0m ×2 + 4.17sINFOobjective_server_nodeFound path in 0 iterations (4.2e-07 s). ×2 + 4.17sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.18sINFOros2_control_node[2026-08-26 00:38:06.747] [info] Received new action goal ×2 + 4.18sINFOros2_control_node[2026-08-26 00:38:06.747] [info] Accepted new action goal ×2 + 5.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.740946 ms (missed cycles : 2). + 5.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.740946 ms (missed cycles : 2).[0m ×2 + 6.04sWARNros2_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 | ||||
| − skipped | Get Collision Free Grasp Subtree | get_collision_free_grasp_subtree.xml | 0.0s | 3 errors · 20 warnings · 60 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.768512 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.768512 ms (missed cycles : 2).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.866414 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.866414 ms (missed cycles : 2).[0m ×2 + 1.22sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.30sINFOobjective_server_nodeFound path in 0 iterations (4.13e-07 s). ×2 + 1.31sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.31sINFOros2_control_node[2026-08-26 00:38:03.877] [info] Received new action goal ×2 + 1.31sINFOros2_control_node[2026-08-26 00:38:03.877] [info] Accepted new action goal ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.262469 ms (missed cycles : 4). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.262469 ms (missed cycles : 4).[0m ×2 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.243797 ms (missed cycles : 4). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.243797 ms (missed cycles : 4).[0m ×2 + 3.30sINFOobjective_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 + 3.31sINFOros2_control_node[2026-08-26 00:38:05.876] [info] Got request to cancel active goal. ×2 + 3.31sINFOros2_control_node[2026-08-26 00:38:05.876] [info] Canceling active goal... ×2 + 3.32sERRORobjective_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: 1787704685.88838840 seconds ×3 + 3.37sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.37sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.37sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.37sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.37sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.37sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.38sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.38sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.38sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.38sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.39sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.39sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.97sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1787704686.53824353 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.97sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.98sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.144262 ms (missed cycles : 5). + 4.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.144262 ms (missed cycles : 5).[0m ×2 + 4.17sINFOobjective_server_nodeFound path in 0 iterations (4.2e-07 s). ×2 + 4.17sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.18sINFOros2_control_node[2026-08-26 00:38:06.747] [info] Received new action goal ×2 + 4.18sINFOros2_control_node[2026-08-26 00:38:06.747] [info] Accepted new action goal ×2 + 5.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.740946 ms (missed cycles : 2). + 5.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.740946 ms (missed cycles : 2).[0m ×2 + 6.04sWARNros2_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 | ||||
| − skipped | GetPoseAtGripperandDisplay | get_pose_at_gripper_and_display.xml | 0.0s | 3 errors · 20 warnings · 60 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.768512 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.768512 ms (missed cycles : 2).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.866414 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.866414 ms (missed cycles : 2).[0m ×2 + 1.22sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.30sINFOobjective_server_nodeFound path in 0 iterations (4.13e-07 s). ×2 + 1.31sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.31sINFOros2_control_node[2026-08-26 00:38:03.877] [info] Received new action goal ×2 + 1.31sINFOros2_control_node[2026-08-26 00:38:03.877] [info] Accepted new action goal ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.262469 ms (missed cycles : 4). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.262469 ms (missed cycles : 4).[0m ×2 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.243797 ms (missed cycles : 4). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.243797 ms (missed cycles : 4).[0m ×2 + 3.30sINFOobjective_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 + 3.31sINFOros2_control_node[2026-08-26 00:38:05.876] [info] Got request to cancel active goal. ×2 + 3.31sINFOros2_control_node[2026-08-26 00:38:05.876] [info] Canceling active goal... ×2 + 3.32sERRORobjective_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: 1787704685.88838840 seconds ×3 + 3.37sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.37sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.37sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.37sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.37sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.37sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.38sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.38sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.38sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.38sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.39sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.39sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.97sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1787704686.53824353 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.97sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.98sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.144262 ms (missed cycles : 5). + 4.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.144262 ms (missed cycles : 5).[0m ×2 + 4.17sINFOobjective_server_nodeFound path in 0 iterations (4.2e-07 s). ×2 + 4.17sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.18sINFOros2_control_node[2026-08-26 00:38:06.747] [info] Received new action goal ×2 + 4.18sINFOros2_control_node[2026-08-26 00:38:06.747] [info] Accepted new action goal ×2 + 5.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.740946 ms (missed cycles : 2). + 5.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.740946 ms (missed cycles : 2).[0m ×2 + 6.04sWARNros2_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 | ||||
| − skipped | Get Transform Frame Pose | get_transform_frame_pose.xml | 0.0s | 3 errors · 20 warnings · 60 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.768512 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.768512 ms (missed cycles : 2).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.866414 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.866414 ms (missed cycles : 2).[0m ×2 + 1.22sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.30sINFOobjective_server_nodeFound path in 0 iterations (4.13e-07 s). ×2 + 1.31sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.31sINFOros2_control_node[2026-08-26 00:38:03.877] [info] Received new action goal ×2 + 1.31sINFOros2_control_node[2026-08-26 00:38:03.877] [info] Accepted new action goal ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.262469 ms (missed cycles : 4). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.262469 ms (missed cycles : 4).[0m ×2 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.243797 ms (missed cycles : 4). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.243797 ms (missed cycles : 4).[0m ×2 + 3.30sINFOobjective_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 + 3.31sINFOros2_control_node[2026-08-26 00:38:05.876] [info] Got request to cancel active goal. ×2 + 3.31sINFOros2_control_node[2026-08-26 00:38:05.876] [info] Canceling active goal... ×2 + 3.32sERRORobjective_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: 1787704685.88838840 seconds ×3 + 3.37sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.37sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.37sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.37sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.37sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.37sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.38sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.38sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.38sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.38sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.39sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.39sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.97sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1787704686.53824353 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.97sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.98sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.144262 ms (missed cycles : 5). + 4.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.144262 ms (missed cycles : 5).[0m ×2 + 4.17sINFOobjective_server_nodeFound path in 0 iterations (4.2e-07 s). ×2 + 4.17sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.18sINFOros2_control_node[2026-08-26 00:38:06.747] [info] Received new action goal ×2 + 4.18sINFOros2_control_node[2026-08-26 00:38:06.747] [info] Accepted new action goal ×2 + 5.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.740946 ms (missed cycles : 2). + 5.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.740946 ms (missed cycles : 2).[0m ×2 + 6.04sWARNros2_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 | ||||
| − skipped | Joint Diagnostic | joint_diagnostic.xml | 0.0s | 3 errors · 23 warnings · 80 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.692937 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.692937 ms (missed cycles : 2).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.542987 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.542987 ms (missed cycles : 2).[0m ×2 + 1.45sINFOobjective_server_nodeFound path in 0 iterations (4.38e-07 s). ×2 + 1.45sINFOobjective_server_nodePath shortcutter: [X_X] ×2 + 1.46sINFOobjective_server_nodeFound path in 0 iterations (5.44e-07 s). ×2 + 1.46sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 1.47sINFOobjective_server_nodeFound path in 0 iterations (3.05e-07 s). ×2 + 1.52sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 1.55sINFOobjective_server_nodeFound path in 1 iterations (0.00332231 s). ×2 + 1.66sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________X____________X] ×2 + 1.71sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.73sINFOros2_control_node[2026-08-26 00:38:26.013] [info] Received new action goal ×2 + 1.73sINFOros2_control_node[2026-08-26 00:38:26.013] [info] Accepted new action goal ×2 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.139533 ms (missed cycles : 2). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.139533 ms (missed cycles : 2).[0m ×2 + 2.16sINFOros2_control_node[2026-08-26 00:38:26.445] [info] Received new action goal ×2 + 2.16sINFOros2_control_node[2026-08-26 00:38:26.445] [info] Accepted new action goal ×2 + 2.54sWARNros2_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 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.870047 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.870047 ms (missed cycles : 2).[0m ×2 + 3.55sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.55sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.68sINFOobjective_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 + 3.69sINFOrobotiq_gripper_controllerGot request to cancel goal + 3.69sINFOrobotiq_gripper_controllerCanceling active action goal because cancel callback received. + 3.69sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 3.69sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.71sERRORobjective_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: 1787704707.99251461 seconds ×3 + 3.71sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.71sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.71sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.71sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.71sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.71sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.72sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.72sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.72sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.72sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.73sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.73sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.577395 ms (missed cycles : 4). + 4.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.577395 ms (missed cycles : 4).[0m ×2 + 4.52sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1787704708.81201625 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.66sINFOros2_control_nodeMuJoCo sim: 0.34% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 4.73sINFOobjective_server_nodeFound path in 0 iterations (3.77e-07 s). ×2 + 4.75sINFOros2_control_node[2026-08-26 00:38:29.036] [info] Received new action goal ×2 + 4.75sINFOros2_control_node[2026-08-26 00:38:29.036] [info] Accepted new action goal ×2 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.733675 ms (missed cycles : 3). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.733675 ms (missed cycles : 3).[0m ×2 + 6.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.744458 ms (missed cycles : 2). + 6.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.744458 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | MPC Pose Tracking With Point Cloud Avoidance | mpc_pose_tracking_with_point_cloud_avoidance.xml | 0.0s | 20 warnings · 2519 info |
+ 0.00sINFOros2_control_nodeAccepted new action goal[0m ×818 + 0.01sINFOjoint_trajectory_controllerReceived new action goal ×408 + 0.01sINFOjoint_trajectory_controllerAccepted new action goal ×408 + 0.01sINFOros2_control_nodeReceived new action goal[0m ×816 + 0.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.137317 ms (missed cycles : 2). + 0.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.137317 ms (missed cycles : 2).[0m ×2 + 1.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.879724 ms (missed cycles : 2). + 1.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.879724 ms (missed cycles : 2).[0m ×2 + 2.83sWARNros2_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 + 2.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.130052 ms (missed cycles : 3). + 2.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.130052 ms (missed cycles : 3).[0m ×2 + 3.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679200 ms (missed cycles : 2). + 3.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679200 ms (missed cycles : 2).[0m ×2 + 3.94sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1787704853.06992388 seconds ×3 + 3.95sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.95sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.95sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.95sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.96sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.96sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.96sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.96sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.96sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.96sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.96sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.97sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.97sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.97sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.97sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.58sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` starting at time: 1787704853.70565748 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.58sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.58sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.65sINFOobjective_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 + 4.65sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.65sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.65sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.65sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.65sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.65sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.65sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.65sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.76sINFOobjective_server_nodeFound path in 5 iterations (0.00630923 s). ×2 + 4.83sINFOobjective_server_nodePath shortcutter: [X______________________________X_________________________________X] ×2 + 4.85sINFOros2_control_node[2026-08-26 00:40:53.971] [info] Received new action goal ×2 + 4.85sINFOros2_control_node[2026-08-26 00:40:53.971] [info] Accepted new action goal ×2 + 4.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.575114 ms (missed cycles : 4). + 4.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.575114 ms (missed cycles : 4).[0m ×2 + 6.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.169904 ms (missed cycles : 7). + 6.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.169904 ms (missed cycles : 7).[0m ×2 | ||||
| − skipped | Pick All Bottles with AprilTags | pick_all_bottles_with_apriltags.xml | 0.0s | 23 warnings · 48 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.246589 ms (missed cycles : 7). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.246589 ms (missed cycles : 7).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.083347 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.083347 ms (missed cycles : 2).[0m ×2 + 1.23sWARNros2_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 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.696037 ms (missed cycles : 2). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.696037 ms (missed cycles : 2).[0m ×2 + 2.86sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.86sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.256899 ms (missed cycles : 3). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.256899 ms (missed cycles : 3).[0m ×2 + 3.66sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` succeeded at time: 1787704883.17586827 seconds ×3 + 3.71sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.71sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.71sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.71sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.71sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.71sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.72sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.72sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.72sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.72sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.72sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.72sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.908188 ms (missed cycles : 5). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.908188 ms (missed cycles : 5).[0m ×2 + 4.37sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1787704883.88537288 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.50sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.59sINFOobjective_server_nodeFound path in 0 iterations (2.41e-07 s). ×2 + 4.59sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.61sINFOros2_control_node[2026-08-26 00:41:24.119] [info] Received new action goal ×2 + 4.61sINFOros2_control_node[2026-08-26 00:41:24.119] [info] Accepted new action goal ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.045251 ms (missed cycles : 5). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.045251 ms (missed cycles : 5).[0m ×2 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.383138 ms (missed cycles : 2). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.383138 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Pick All Pill Bottles | pick_all_pill_bottles.xml | 0.0s | 23 warnings · 48 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.246589 ms (missed cycles : 7). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.246589 ms (missed cycles : 7).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.083347 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.083347 ms (missed cycles : 2).[0m ×2 + 1.23sWARNros2_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 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.696037 ms (missed cycles : 2). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.696037 ms (missed cycles : 2).[0m ×2 + 2.86sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.86sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.256899 ms (missed cycles : 3). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.256899 ms (missed cycles : 3).[0m ×2 + 3.66sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` succeeded at time: 1787704883.17586827 seconds ×3 + 3.71sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.71sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.71sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.71sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.71sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.71sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.72sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.72sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.72sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.72sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.72sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.72sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.908188 ms (missed cycles : 5). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.908188 ms (missed cycles : 5).[0m ×2 + 4.37sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1787704883.88537288 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.50sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.59sINFOobjective_server_nodeFound path in 0 iterations (2.41e-07 s). ×2 + 4.59sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.61sINFOros2_control_node[2026-08-26 00:41:24.119] [info] Received new action goal ×2 + 4.61sINFOros2_control_node[2026-08-26 00:41:24.119] [info] Accepted new action goal ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.045251 ms (missed cycles : 5). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.045251 ms (missed cycles : 5).[0m ×2 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.383138 ms (missed cycles : 2). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.383138 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Place at Pose | place_at_pose.xml | 0.0s | 3 errors · 23 warnings · 63 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.884967 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.884967 ms (missed cycles : 3).[0m ×2 + 1.06sINFOros2_control_node[2026-08-26 00:41:31.205] [info] Received new action goal ×2 + 1.06sINFOros2_control_node[2026-08-26 00:41:31.205] [info] Accepted new action goal ×2 + 1.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.942158 ms (missed cycles : 3). + 1.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.942158 ms (missed cycles : 3).[0m ×2 + 2.45sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.45sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.055359 ms (missed cycles : 2). + 2.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.055359 ms (missed cycles : 2).[0m ×2 + 2.48sWARNros2_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 + 2.96sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.97sINFOros2_control_node[2026-08-26 00:41:33.119] [info] Received new action goal ×2 + 2.97sINFOros2_control_node[2026-08-26 00:41:33.119] [info] Accepted new action goal ×2 + 3.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.948271 ms (missed cycles : 3). + 3.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.948271 ms (missed cycles : 3).[0m ×2 + 3.82sINFOobjective_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 + 3.83sINFOros2_control_node[2026-08-26 00:41:33.975] [info] Got request to cancel active goal. ×2 + 3.83sINFOros2_control_node[2026-08-26 00:41:33.975] [info] Canceling active goal... ×2 + 3.84sERRORobjective_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: 1787704893.99032760 seconds ×3 + 3.89sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.89sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.89sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.89sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.89sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.89sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.90sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.90sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.90sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.90sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.91sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.91sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.700170 ms (missed cycles : 4). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.700170 ms (missed cycles : 4).[0m ×2 + 4.52sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1787704894.67522645 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 (4.69e-07 s). ×2 + 4.70sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.71sINFOros2_control_node[2026-08-26 00:41:34.859] [info] Received new action goal ×2 + 4.71sINFOros2_control_node[2026-08-26 00:41:34.859] [info] Accepted new action goal ×2 + 5.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.905513 ms (missed cycles : 2). + 5.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.905513 ms (missed cycles : 2).[0m ×2 + 6.62sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.087150 ms (missed cycles : 5). + 6.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.087150 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Record Square Trajectory | record_square_trajectory.xml | 0.0s | 3 errors · 20 warnings · 131 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.874873 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.874873 ms (missed cycles : 3).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.512915 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.512915 ms (missed cycles : 3).[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.209664 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.209664 ms (missed cycles : 2).[0m ×2 + 2.96sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.96sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1787704926.37784004 seconds ×3 + 3.03sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.03sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.03sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.04sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.04sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.04sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.04sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.037102 ms (missed cycles : 4). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.037102 ms (missed cycles : 4).[0m ×2 + 3.25sWARNros2_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 + 3.61sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1787704927.02777100 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.66sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.66sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.68sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.68sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.69sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1787704927.10790443 seconds ×3 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.740558 ms (missed cycles : 2). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.740558 ms (missed cycles : 2).[0m ×2 + 4.30sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1787704927.71018672 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.32sINFOobjective_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 + 4.32sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1787704927.73234153 seconds ×3 + 5.03sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1787704928.44902873 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.05sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.14sINFOobjective_server_nodeFound path in 0 iterations (3.88e-07 s). ×2 + 5.14sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 5.16sINFOros2_control_node[2026-08-26 00:42:08.573] [info] Received new action goal ×2 + 5.16sINFOros2_control_node[2026-08-26 00:42:08.573] [info] Accepted new action goal ×2 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.049554 ms (missed cycles : 4). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.049554 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Reflect Poses Subtree | reflect_poses_subtree.xml | 0.0s | 3 errors · 20 warnings · 131 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.874873 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.874873 ms (missed cycles : 3).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.512915 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.512915 ms (missed cycles : 3).[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.209664 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.209664 ms (missed cycles : 2).[0m ×2 + 2.96sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.96sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1787704926.37784004 seconds ×3 + 3.03sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.03sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.03sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.04sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.04sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.04sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.04sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.037102 ms (missed cycles : 4). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.037102 ms (missed cycles : 4).[0m ×2 + 3.25sWARNros2_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 + 3.61sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1787704927.02777100 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.66sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.66sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.68sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.68sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.69sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1787704927.10790443 seconds ×3 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.740558 ms (missed cycles : 2). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.740558 ms (missed cycles : 2).[0m ×2 + 4.30sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1787704927.71018672 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.32sINFOobjective_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 + 4.32sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1787704927.73234153 seconds ×3 + 5.03sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1787704928.44902873 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.05sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.14sINFOobjective_server_nodeFound path in 0 iterations (3.88e-07 s). ×2 + 5.14sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 5.16sINFOros2_control_node[2026-08-26 00:42:08.573] [info] Received new action goal ×2 + 5.16sINFOros2_control_node[2026-08-26 00:42:08.573] [info] Accepted new action goal ×2 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.049554 ms (missed cycles : 4). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.049554 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Register CAD Part | register_cad_part.xml | 0.0s | 3 errors · 20 warnings · 131 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.874873 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.874873 ms (missed cycles : 3).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.512915 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.512915 ms (missed cycles : 3).[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.209664 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.209664 ms (missed cycles : 2).[0m ×2 + 2.96sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.96sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1787704926.37784004 seconds ×3 + 3.03sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.03sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.03sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.04sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.04sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.04sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.04sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.037102 ms (missed cycles : 4). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.037102 ms (missed cycles : 4).[0m ×2 + 3.25sWARNros2_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 + 3.61sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1787704927.02777100 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.66sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.66sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.68sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.68sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.69sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1787704927.10790443 seconds ×3 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.740558 ms (missed cycles : 2). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.740558 ms (missed cycles : 2).[0m ×2 + 4.30sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1787704927.71018672 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.32sINFOobjective_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 + 4.32sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1787704927.73234153 seconds ×3 + 5.03sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1787704928.44902873 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.05sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.14sINFOobjective_server_nodeFound path in 0 iterations (3.88e-07 s). ×2 + 5.14sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 5.16sINFOros2_control_node[2026-08-26 00:42:08.573] [info] Received new action goal ×2 + 5.16sINFOros2_control_node[2026-08-26 00:42:08.573] [info] Accepted new action goal ×2 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.049554 ms (missed cycles : 4). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.049554 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Scan Scene - Multiple Point Clouds | scan_scene_-_multiple_point_clouds.xml | 0.0s | 3 errors · 23 warnings · 134 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.512915 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.512915 ms (missed cycles : 3).[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.209664 ms (missed cycles : 2). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.209664 ms (missed cycles : 2).[0m ×2 + 1.94sINFOobjective_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 + 1.94sERRORobjective_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: 1787704926.37784004 seconds ×3 + 2.01sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.01sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.01sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.01sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.02sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.02sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.02sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.03sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.03sINFOros2_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 5.037102 ms (missed cycles : 4). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.037102 ms (missed cycles : 4).[0m ×2 + 2.23sWARNros2_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 + 2.59sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1787704927.02777100 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.64sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.64sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.66sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.66sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.67sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1787704927.10790443 seconds ×3 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.740558 ms (missed cycles : 2). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.740558 ms (missed cycles : 2).[0m ×2 + 3.28sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1787704927.71018672 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.30sINFOobjective_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 + 3.30sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1787704927.73234153 seconds ×3 + 4.02sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1787704928.44902873 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.03sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.13sINFOobjective_server_nodeFound path in 0 iterations (3.88e-07 s). ×2 + 4.13sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.14sINFOros2_control_node[2026-08-26 00:42:08.573] [info] Received new action goal ×2 + 4.14sINFOros2_control_node[2026-08-26 00:42:08.573] [info] Accepted new action goal ×2 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.049554 ms (missed cycles : 4). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.049554 ms (missed cycles : 4).[0m ×2 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.891079 ms (missed cycles : 3). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.891079 ms (missed cycles : 3).[0m ×2 + 6.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.238440 ms (missed cycles : 3). + 6.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.238440 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Segment Bottle Subtree | segment_bottle_subtree.xml | 0.0s | 3 errors · 23 warnings · 134 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.512915 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.512915 ms (missed cycles : 3).[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.209664 ms (missed cycles : 2). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.209664 ms (missed cycles : 2).[0m ×2 + 1.94sINFOobjective_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 + 1.94sERRORobjective_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: 1787704926.37784004 seconds ×3 + 2.01sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.01sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.01sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.01sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.02sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.02sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.02sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.03sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.03sINFOros2_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 5.037102 ms (missed cycles : 4). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.037102 ms (missed cycles : 4).[0m ×2 + 2.23sWARNros2_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 + 2.59sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1787704927.02777100 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.64sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.64sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.66sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.66sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.67sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1787704927.10790443 seconds ×3 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.740558 ms (missed cycles : 2). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.740558 ms (missed cycles : 2).[0m ×2 + 3.28sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1787704927.71018672 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.30sINFOobjective_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 + 3.30sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1787704927.73234153 seconds ×3 + 4.02sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1787704928.44902873 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.03sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.13sINFOobjective_server_nodeFound path in 0 iterations (3.88e-07 s). ×2 + 4.13sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.14sINFOros2_control_node[2026-08-26 00:42:08.573] [info] Received new action goal ×2 + 4.14sINFOros2_control_node[2026-08-26 00:42:08.573] [info] Accepted new action goal ×2 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.049554 ms (missed cycles : 4). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.049554 ms (missed cycles : 4).[0m ×2 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.891079 ms (missed cycles : 3). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.891079 ms (missed cycles : 3).[0m ×2 + 6.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.238440 ms (missed cycles : 3). + 6.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.238440 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Select Region for Coverage Path | select_region_for_coverage_path.xml | 0.0s | 3 errors · 23 warnings · 134 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.512915 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.512915 ms (missed cycles : 3).[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.209664 ms (missed cycles : 2). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.209664 ms (missed cycles : 2).[0m ×2 + 1.94sINFOobjective_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 + 1.94sERRORobjective_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: 1787704926.37784004 seconds ×3 + 2.01sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.01sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.01sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.01sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.02sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.02sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.02sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.03sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.03sINFOros2_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 5.037102 ms (missed cycles : 4). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.037102 ms (missed cycles : 4).[0m ×2 + 2.23sWARNros2_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 + 2.59sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1787704927.02777100 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.64sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.64sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.66sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.66sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.67sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1787704927.10790443 seconds ×3 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.740558 ms (missed cycles : 2). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.740558 ms (missed cycles : 2).[0m ×2 + 3.28sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1787704927.71018672 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.30sINFOobjective_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 + 3.30sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1787704927.73234153 seconds ×3 + 4.02sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1787704928.44902873 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.03sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.13sINFOobjective_server_nodeFound path in 0 iterations (3.88e-07 s). ×2 + 4.13sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.14sINFOros2_control_node[2026-08-26 00:42:08.573] [info] Received new action goal ×2 + 4.14sINFOros2_control_node[2026-08-26 00:42:08.573] [info] Accepted new action goal ×2 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.049554 ms (missed cycles : 4). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.049554 ms (missed cycles : 4).[0m ×2 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.891079 ms (missed cycles : 3). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.891079 ms (missed cycles : 3).[0m ×2 + 6.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.238440 ms (missed cycles : 3). + 6.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.238440 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Stitch Multiple Point Clouds Together | stitch_multiple_point_clouds_together.xml | 0.0s | 3 errors · 25 warnings · 131 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879454 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879454 ms (missed cycles : 2).[0m ×2 + 0.90sWARNros2_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 ×4 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.807613 ms (missed cycles : 5). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.807613 ms (missed cycles : 5).[0m ×2 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.141660 ms (missed cycles : 4). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.141660 ms (missed cycles : 4).[0m ×2 + 3.06sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.07sINFOros2_control_node[2026-08-26 00:42:18.879] [info] Got request to cancel active goal. ×2 + 3.07sINFOros2_control_node[2026-08-26 00:42:18.879] [info] Canceling active goal... ×2 + 3.07sERRORobjective_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: 1787704938.88364267 seconds ×3 + 3.08sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.09sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.09sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 3.09sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.09sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 3.09sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.09sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 3.09sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.10sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.10sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.10sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.053315 ms (missed cycles : 3). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.053315 ms (missed cycles : 3).[0m ×2 + 3.67sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1787704939.47818398 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.387034 ms (missed cycles : 3). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.387034 ms (missed cycles : 3).[0m ×2 + 4.39sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1787704940.19831848 seconds ×3 + 5.02sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1787704940.83060384 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.02sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 5.02sINFOobjective_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 + 5.02sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 5.02sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1787704940.83352089 seconds ×3 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.912362 ms (missed cycles : 3). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.912362 ms (missed cycles : 3).[0m ×2 + 5.74sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1787704941.55166054 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.74sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1787704941.55217767 seconds ×3 | ||||
| − skipped | Add Poses to MTC Task | add_poses_to_mtc_task.xml | 0.0s | 3 errors · 20 warnings · 91 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.635281 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.635281 ms (missed cycles : 4).[0m ×2 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.586714 ms (missed cycles : 7). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.586714 ms (missed cycles : 7).[0m ×2 + 1.85sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.94sINFOobjective_server_nodeFound path in 0 iterations (3.14e-07 s). ×2 + 1.95sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 1.96sINFOros2_control_node[2026-08-26 00:37:36.307] [info] Received new action goal ×2 + 1.96sINFOros2_control_node[2026-08-26 00:37:36.307] [info] Accepted new action goal ×2 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.114367 ms (missed cycles : 5). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.114367 ms (missed cycles : 5).[0m ×2 + 2.46sWARNros2_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 + 2.63sINFOobjective_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 + 2.63sINFOros2_control_node[2026-08-26 00:37:36.973] [info] Got request to cancel active goal. ×2 + 2.63sINFOros2_control_node[2026-08-26 00:37:36.973] [info] Canceling active goal... ×2 + 2.64sERRORobjective_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: 1787704656.98841500 seconds ×3 + 2.70sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.70sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.70sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.70sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.71sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.71sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.71sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.71sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.72sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.72sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.72sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.72sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.29sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1787704657.63606811 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.40sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1787704657.74620533 seconds ×3 + 3.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668424 ms (missed cycles : 2). + 3.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668424 ms (missed cycles : 2).[0m ×2 + 4.03sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1787704658.37369323 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.03sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.03sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.22sINFOobjective_server_nodeFound path in 0 iterations (5.87e-07 s). ×2 + 4.22sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.23sINFOros2_control_node[2026-08-26 00:37:38.578] [info] Received new action goal ×2 + 4.23sINFOros2_control_node[2026-08-26 00:37:38.578] [info] Accepted new action goal ×2 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.211649 ms (missed cycles : 2). + 4.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.211649 ms (missed cycles : 2).[0m ×2 + 5.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.059816 ms (missed cycles : 2). + 5.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.059816 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | AddBottlesToPlanningScene | addbottlestoplanningscene.xml | 0.0s | 3 errors · 20 warnings · 91 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.635281 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.635281 ms (missed cycles : 4).[0m ×2 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.586714 ms (missed cycles : 7). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.586714 ms (missed cycles : 7).[0m ×2 + 1.85sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.94sINFOobjective_server_nodeFound path in 0 iterations (3.14e-07 s). ×2 + 1.95sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 1.96sINFOros2_control_node[2026-08-26 00:37:36.307] [info] Received new action goal ×2 + 1.96sINFOros2_control_node[2026-08-26 00:37:36.307] [info] Accepted new action goal ×2 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.114367 ms (missed cycles : 5). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.114367 ms (missed cycles : 5).[0m ×2 + 2.46sWARNros2_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 + 2.63sINFOobjective_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 + 2.63sINFOros2_control_node[2026-08-26 00:37:36.973] [info] Got request to cancel active goal. ×2 + 2.63sINFOros2_control_node[2026-08-26 00:37:36.973] [info] Canceling active goal... ×2 + 2.64sERRORobjective_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: 1787704656.98841500 seconds ×3 + 2.70sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.70sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.70sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.70sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.71sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.71sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.71sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.71sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.72sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.72sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.72sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.72sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.29sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1787704657.63606811 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.40sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1787704657.74620533 seconds ×3 + 3.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668424 ms (missed cycles : 2). + 3.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668424 ms (missed cycles : 2).[0m ×2 + 4.03sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1787704658.37369323 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.03sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.03sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.22sINFOobjective_server_nodeFound path in 0 iterations (5.87e-07 s). ×2 + 4.22sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.23sINFOros2_control_node[2026-08-26 00:37:38.578] [info] Received new action goal ×2 + 4.23sINFOros2_control_node[2026-08-26 00:37:38.578] [info] Accepted new action goal ×2 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.211649 ms (missed cycles : 2). + 4.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.211649 ms (missed cycles : 2).[0m ×2 + 5.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.059816 ms (missed cycles : 2). + 5.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.059816 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | AddCollisionBoxInFrontOfEndEffector | addcollisionboxinfrontofendeffector.xml | 0.0s | 3 errors · 20 warnings · 91 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.635281 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.635281 ms (missed cycles : 4).[0m ×2 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.586714 ms (missed cycles : 7). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.586714 ms (missed cycles : 7).[0m ×2 + 1.85sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.94sINFOobjective_server_nodeFound path in 0 iterations (3.14e-07 s). ×2 + 1.95sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 1.96sINFOros2_control_node[2026-08-26 00:37:36.307] [info] Received new action goal ×2 + 1.96sINFOros2_control_node[2026-08-26 00:37:36.307] [info] Accepted new action goal ×2 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.114367 ms (missed cycles : 5). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.114367 ms (missed cycles : 5).[0m ×2 + 2.46sWARNros2_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 + 2.63sINFOobjective_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 + 2.63sINFOros2_control_node[2026-08-26 00:37:36.973] [info] Got request to cancel active goal. ×2 + 2.63sINFOros2_control_node[2026-08-26 00:37:36.973] [info] Canceling active goal... ×2 + 2.64sERRORobjective_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: 1787704656.98841500 seconds ×3 + 2.70sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.70sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.70sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.70sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.71sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.71sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.71sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.71sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.72sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.72sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.72sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.72sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.29sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1787704657.63606811 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.40sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1787704657.74620533 seconds ×3 + 3.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668424 ms (missed cycles : 2). + 3.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668424 ms (missed cycles : 2).[0m ×2 + 4.03sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1787704658.37369323 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.03sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.03sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.22sINFOobjective_server_nodeFound path in 0 iterations (5.87e-07 s). ×2 + 4.22sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.23sINFOros2_control_node[2026-08-26 00:37:38.578] [info] Received new action goal ×2 + 4.23sINFOros2_control_node[2026-08-26 00:37:38.578] [info] Accepted new action goal ×2 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.211649 ms (missed cycles : 2). + 4.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.211649 ms (missed cycles : 2).[0m ×2 + 5.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.059816 ms (missed cycles : 2). + 5.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.059816 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | AddCollisionObjectToPlanningScene | addcollisionobjecttoplanningscene.xml | 0.0s | 3 errors · 20 warnings · 91 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.635281 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.635281 ms (missed cycles : 4).[0m ×2 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.586714 ms (missed cycles : 7). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.586714 ms (missed cycles : 7).[0m ×2 + 1.85sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.94sINFOobjective_server_nodeFound path in 0 iterations (3.14e-07 s). ×2 + 1.95sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 1.96sINFOros2_control_node[2026-08-26 00:37:36.307] [info] Received new action goal ×2 + 1.96sINFOros2_control_node[2026-08-26 00:37:36.307] [info] Accepted new action goal ×2 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.114367 ms (missed cycles : 5). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.114367 ms (missed cycles : 5).[0m ×2 + 2.46sWARNros2_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 + 2.63sINFOobjective_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 + 2.63sINFOros2_control_node[2026-08-26 00:37:36.973] [info] Got request to cancel active goal. ×2 + 2.63sINFOros2_control_node[2026-08-26 00:37:36.973] [info] Canceling active goal... ×2 + 2.64sERRORobjective_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: 1787704656.98841500 seconds ×3 + 2.70sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.70sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.70sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.70sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.71sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.71sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.71sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.71sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.72sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.72sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.72sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.72sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.29sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1787704657.63606811 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.40sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1787704657.74620533 seconds ×3 + 3.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668424 ms (missed cycles : 2). + 3.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668424 ms (missed cycles : 2).[0m ×2 + 4.03sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1787704658.37369323 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.03sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.03sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.22sINFOobjective_server_nodeFound path in 0 iterations (5.87e-07 s). ×2 + 4.22sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.23sINFOros2_control_node[2026-08-26 00:37:38.578] [info] Received new action goal ×2 + 4.23sINFOros2_control_node[2026-08-26 00:37:38.578] [info] Accepted new action goal ×2 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.211649 ms (missed cycles : 2). + 4.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.211649 ms (missed cycles : 2).[0m ×2 + 5.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.059816 ms (missed cycles : 2). + 5.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.059816 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | ComputeLinkPoseFromWaypoint | computelinkposefromwaypoint.xml | 0.0s | 20 warnings · 83 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.170394 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.170394 ms (missed cycles : 2).[0m ×2 + 0.51sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.51sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.02sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.03sINFOros2_control_node[2026-08-26 00:37:52.937] [info] Received new action goal ×2 + 1.03sINFOros2_control_node[2026-08-26 00:37:52.937] [info] Accepted new action goal ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.519845 ms (missed cycles : 2). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.519845 ms (missed cycles : 2).[0m ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.213313 ms (missed cycles : 2). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.213313 ms (missed cycles : 2).[0m ×2 + 2.42sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1787704674.32440400 seconds ×3 + 2.42sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.42sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.43sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.43sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.43sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.43sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.43sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.43sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.44sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.44sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.44sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.44sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.05sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1787704674.95295930 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.14sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1787704675.04309464 seconds ×3 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.286458 ms (missed cycles : 4). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.286458 ms (missed cycles : 4).[0m ×2 + 3.79sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1787704675.69568872 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.80sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.85sWARNros2_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 + 3.90sINFOobjective_server_nodeFound path in 0 iterations (3.43e-07 s). ×2 + 3.91sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.92sINFOros2_control_node[2026-08-26 00:37:55.830] [info] Received new action goal ×2 + 3.92sINFOros2_control_node[2026-08-26 00:37:55.830] [info] Accepted new action goal ×2 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.476733 ms (missed cycles : 3). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.476733 ms (missed cycles : 3).[0m ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.043051 ms (missed cycles : 2). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.043051 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Constrained Pick and Place Subtree | constrained_pick_and_place_subtree.xml | 0.0s | 20 warnings · 83 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.170394 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.170394 ms (missed cycles : 2).[0m ×2 + 0.51sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.51sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.02sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.03sINFOros2_control_node[2026-08-26 00:37:52.937] [info] Received new action goal ×2 + 1.03sINFOros2_control_node[2026-08-26 00:37:52.937] [info] Accepted new action goal ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.519845 ms (missed cycles : 2). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.519845 ms (missed cycles : 2).[0m ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.213313 ms (missed cycles : 2). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.213313 ms (missed cycles : 2).[0m ×2 + 2.42sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1787704674.32440400 seconds ×3 + 2.42sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.42sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.43sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.43sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.43sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.43sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.43sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.43sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.44sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.44sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.44sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.44sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.05sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1787704674.95295930 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.14sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1787704675.04309464 seconds ×3 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.286458 ms (missed cycles : 4). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.286458 ms (missed cycles : 4).[0m ×2 + 3.79sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1787704675.69568872 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.80sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.85sWARNros2_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 + 3.90sINFOobjective_server_nodeFound path in 0 iterations (3.43e-07 s). ×2 + 3.91sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.92sINFOros2_control_node[2026-08-26 00:37:55.830] [info] Received new action goal ×2 + 3.92sINFOros2_control_node[2026-08-26 00:37:55.830] [info] Accepted new action goal ×2 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.476733 ms (missed cycles : 3). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.476733 ms (missed cycles : 3).[0m ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.043051 ms (missed cycles : 2). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.043051 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Create PCL Poses Vector | create_pcl_poses_vector.xml | 0.0s | 20 warnings · 83 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.170394 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.170394 ms (missed cycles : 2).[0m ×2 + 0.51sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.51sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.02sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.03sINFOros2_control_node[2026-08-26 00:37:52.937] [info] Received new action goal ×2 + 1.03sINFOros2_control_node[2026-08-26 00:37:52.937] [info] Accepted new action goal ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.519845 ms (missed cycles : 2). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.519845 ms (missed cycles : 2).[0m ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.213313 ms (missed cycles : 2). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.213313 ms (missed cycles : 2).[0m ×2 + 2.42sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1787704674.32440400 seconds ×3 + 2.42sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.42sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.43sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.43sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.43sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.43sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.43sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.43sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.44sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.44sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.44sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.44sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.05sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1787704674.95295930 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.14sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1787704675.04309464 seconds ×3 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.286458 ms (missed cycles : 4). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.286458 ms (missed cycles : 4).[0m ×2 + 3.79sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1787704675.69568872 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.80sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.85sWARNros2_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 + 3.90sINFOobjective_server_nodeFound path in 0 iterations (3.43e-07 s). ×2 + 3.91sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.92sINFOros2_control_node[2026-08-26 00:37:55.830] [info] Received new action goal ×2 + 3.92sINFOros2_control_node[2026-08-26 00:37:55.830] [info] Accepted new action goal ×2 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.476733 ms (missed cycles : 3). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.476733 ms (missed cycles : 3).[0m ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.043051 ms (missed cycles : 2). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.043051 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Fan Pose About Tool-Z Subtree | fan_pose_about_tool_z_subtree.xml | 0.0s | 3 errors · 20 warnings · 60 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.768512 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.768512 ms (missed cycles : 2).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.866414 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.866414 ms (missed cycles : 2).[0m ×2 + 1.22sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.30sINFOobjective_server_nodeFound path in 0 iterations (4.13e-07 s). ×2 + 1.31sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.31sINFOros2_control_node[2026-08-26 00:38:03.877] [info] Received new action goal ×2 + 1.31sINFOros2_control_node[2026-08-26 00:38:03.877] [info] Accepted new action goal ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.262469 ms (missed cycles : 4). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.262469 ms (missed cycles : 4).[0m ×2 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.243797 ms (missed cycles : 4). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.243797 ms (missed cycles : 4).[0m ×2 + 3.30sINFOobjective_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 + 3.31sINFOros2_control_node[2026-08-26 00:38:05.876] [info] Got request to cancel active goal. ×2 + 3.31sINFOros2_control_node[2026-08-26 00:38:05.876] [info] Canceling active goal... ×2 + 3.32sERRORobjective_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: 1787704685.88838840 seconds ×3 + 3.37sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.37sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.37sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.37sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.37sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.37sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.38sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.38sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.38sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.38sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.39sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.39sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.97sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1787704686.53824353 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.97sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.98sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.144262 ms (missed cycles : 5). + 4.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.144262 ms (missed cycles : 5).[0m ×2 + 4.17sINFOobjective_server_nodeFound path in 0 iterations (4.2e-07 s). ×2 + 4.17sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.18sINFOros2_control_node[2026-08-26 00:38:06.747] [info] Received new action goal ×2 + 4.18sINFOros2_control_node[2026-08-26 00:38:06.747] [info] Accepted new action goal ×2 + 5.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.740946 ms (missed cycles : 2). + 5.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.740946 ms (missed cycles : 2).[0m ×2 + 6.04sWARNros2_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 | ||||
| − skipped | Fit Bottle Model Subtree | fit_bottle_model_subtree.xml | 0.0s | 3 errors · 20 warnings · 60 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.768512 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.768512 ms (missed cycles : 2).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.866414 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.866414 ms (missed cycles : 2).[0m ×2 + 1.22sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.30sINFOobjective_server_nodeFound path in 0 iterations (4.13e-07 s). ×2 + 1.31sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.31sINFOros2_control_node[2026-08-26 00:38:03.877] [info] Received new action goal ×2 + 1.31sINFOros2_control_node[2026-08-26 00:38:03.877] [info] Accepted new action goal ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.262469 ms (missed cycles : 4). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.262469 ms (missed cycles : 4).[0m ×2 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.243797 ms (missed cycles : 4). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.243797 ms (missed cycles : 4).[0m ×2 + 3.30sINFOobjective_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 + 3.31sINFOros2_control_node[2026-08-26 00:38:05.876] [info] Got request to cancel active goal. ×2 + 3.31sINFOros2_control_node[2026-08-26 00:38:05.876] [info] Canceling active goal... ×2 + 3.32sERRORobjective_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: 1787704685.88838840 seconds ×3 + 3.37sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.37sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.37sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.37sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.37sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.37sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.38sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.38sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.38sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.38sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.39sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.39sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.97sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1787704686.53824353 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.97sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.98sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.144262 ms (missed cycles : 5). + 4.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.144262 ms (missed cycles : 5).[0m ×2 + 4.17sINFOobjective_server_nodeFound path in 0 iterations (4.2e-07 s). ×2 + 4.17sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.18sINFOros2_control_node[2026-08-26 00:38:06.747] [info] Received new action goal ×2 + 4.18sINFOros2_control_node[2026-08-26 00:38:06.747] [info] Accepted new action goal ×2 + 5.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.740946 ms (missed cycles : 2). + 5.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.740946 ms (missed cycles : 2).[0m ×2 + 6.04sWARNros2_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 | ||||
| − skipped | Get AprilTag Pose from Image | get_april_tag_pose_from_image.xml | 0.0s | 3 errors · 20 warnings · 60 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.768512 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.768512 ms (missed cycles : 2).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.866414 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.866414 ms (missed cycles : 2).[0m ×2 + 1.22sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.30sINFOobjective_server_nodeFound path in 0 iterations (4.13e-07 s). ×2 + 1.31sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.31sINFOros2_control_node[2026-08-26 00:38:03.877] [info] Received new action goal ×2 + 1.31sINFOros2_control_node[2026-08-26 00:38:03.877] [info] Accepted new action goal ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.262469 ms (missed cycles : 4). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.262469 ms (missed cycles : 4).[0m ×2 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.243797 ms (missed cycles : 4). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.243797 ms (missed cycles : 4).[0m ×2 + 3.30sINFOobjective_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 + 3.31sINFOros2_control_node[2026-08-26 00:38:05.876] [info] Got request to cancel active goal. ×2 + 3.31sINFOros2_control_node[2026-08-26 00:38:05.876] [info] Canceling active goal... ×2 + 3.32sERRORobjective_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: 1787704685.88838840 seconds ×3 + 3.37sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.37sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.37sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.37sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.37sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.37sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.38sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.38sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.38sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.38sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.39sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.39sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.97sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1787704686.53824353 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.97sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.98sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.144262 ms (missed cycles : 5). + 4.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.144262 ms (missed cycles : 5).[0m ×2 + 4.17sINFOobjective_server_nodeFound path in 0 iterations (4.2e-07 s). ×2 + 4.17sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.18sINFOros2_control_node[2026-08-26 00:38:06.747] [info] Received new action goal ×2 + 4.18sINFOros2_control_node[2026-08-26 00:38:06.747] [info] Accepted new action goal ×2 + 5.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.740946 ms (missed cycles : 2). + 5.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.740946 ms (missed cycles : 2).[0m ×2 + 6.04sWARNros2_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 | ||||
| − skipped | Grasp Planning | grasp_planning.xml | 0.0s | 3 errors · 20 warnings · 60 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.768512 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.768512 ms (missed cycles : 2).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.866414 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.866414 ms (missed cycles : 2).[0m ×2 + 1.22sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.30sINFOobjective_server_nodeFound path in 0 iterations (4.13e-07 s). ×2 + 1.31sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.31sINFOros2_control_node[2026-08-26 00:38:03.877] [info] Received new action goal ×2 + 1.31sINFOros2_control_node[2026-08-26 00:38:03.877] [info] Accepted new action goal ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.262469 ms (missed cycles : 4). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.262469 ms (missed cycles : 4).[0m ×2 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.243797 ms (missed cycles : 4). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.243797 ms (missed cycles : 4).[0m ×2 + 3.30sINFOobjective_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 + 3.31sINFOros2_control_node[2026-08-26 00:38:05.876] [info] Got request to cancel active goal. ×2 + 3.31sINFOros2_control_node[2026-08-26 00:38:05.876] [info] Canceling active goal... ×2 + 3.32sERRORobjective_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: 1787704685.88838840 seconds ×3 + 3.37sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.37sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.37sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.37sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.37sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.37sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.38sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.38sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.38sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.38sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.39sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.39sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.97sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1787704686.53824353 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.97sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.98sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.144262 ms (missed cycles : 5). + 4.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.144262 ms (missed cycles : 5).[0m ×2 + 4.17sINFOobjective_server_nodeFound path in 0 iterations (4.2e-07 s). ×2 + 4.17sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.18sINFOros2_control_node[2026-08-26 00:38:06.747] [info] Received new action goal ×2 + 4.18sINFOros2_control_node[2026-08-26 00:38:06.747] [info] Accepted new action goal ×2 + 5.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.740946 ms (missed cycles : 2). + 5.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.740946 ms (missed cycles : 2).[0m ×2 + 6.04sWARNros2_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 | ||||
| − 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 2.723548 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.723548 ms (missed cycles : 2).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.425473 ms (missed cycles : 2). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.425473 ms (missed cycles : 2).[0m ×2 + 1.78sWARNros2_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 + 2.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.965536 ms (missed cycles : 3). + 2.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.965536 ms (missed cycles : 3).[0m ×2 + 3.04sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1787704720.10633326 seconds ×3 + 3.12sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 3.12sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.12sINFOcontroller_managerSuccessfully switched controllers! ×6 + 3.12sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 3.12sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.12sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 3.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 3.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.13sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 3.13sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 3.13sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 3.14sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 3.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.369136 ms (missed cycles : 3). + 3.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.369136 ms (missed cycles : 3).[0m ×2 + 3.70sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1787704720.76905942 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.74sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.74sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.75sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.75sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.77sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1787704720.83919740 seconds ×3 + 4.37sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1787704721.43638110 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.39sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.49sINFOobjective_server_nodeFound path in 0 iterations (2.73e-07 s). ×2 + 4.49sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.50sINFOros2_control_node[2026-08-26 00:38:41.560] [info] Received new action goal ×2 + 4.50sINFOros2_control_node[2026-08-26 00:38:41.560] [info] Accepted new action goal ×2 + 4.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.707021 ms (missed cycles : 2). + 4.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.707021 ms (missed cycles : 2).[0m ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.446453 ms (missed cycles : 3). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.446453 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: 1787704720.76905942 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 + 0.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 0.04sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 0.05sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 0.05sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 0.06sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 0.06sINFOros2_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: 1787704720.83919740 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 + 0.67sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1787704721.43638110 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.69sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 0.78sINFOobjective_server_nodeFound path in 0 iterations (2.73e-07 s). ×2 + 0.78sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.79sINFOros2_control_node[2026-08-26 00:38:41.560] [info] Received new action goal ×2 + 0.79sINFOros2_control_node[2026-08-26 00:38:41.560] [info] Accepted new action goal ×2 + 0.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.707021 ms (missed cycles : 2). + 0.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.707021 ms (missed cycles : 2).[0m ×2 + 1.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.446453 ms (missed cycles : 3). + 1.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.446453 ms (missed cycles : 3).[0m ×2 + 2.80sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1787704723.56654644 seconds ×3 + 2.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.101619 ms (missed cycles : 2). + 2.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.101619 ms (missed cycles : 2).[0m ×2 + 4.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.888460 ms (missed cycles : 5). + 4.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.888460 ms (missed cycles : 5).[0m ×2 + 4.40sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1787704725.17173028 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.06sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.39 s); wrist_camera (1.39 s). The render path has stopped producing new frames for them.[0m ×2 + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.973251 ms (missed cycles : 4). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.973251 ms (missed cycles : 4).[0m ×2 + 6.12sINFOobjective_server_node[2026-08-26 00:38:46.884] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.143975 ms (missed cycles : 5). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.143975 ms (missed cycles : 5).[0m ×2 + 6.93sINFOobjective_server_node[0;93m2026-08-26 00:38:47.701485977 [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 + 6.93sINFOobjective_server_node[0;93m2026-08-26 00:38:47.701528773 [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 Image | ml_segment_image.xml | 0.0s | 20 warnings · 73 info |
+ 0.00sINFOobjective_server_node[2026-08-26 00:38:48.807] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 0.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.169397 ms (missed cycles : 2). + 0.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.169397 ms (missed cycles : 2).[0m ×2 + 0.53sINFOobjective_server_node[0;93m2026-08-26 00:38:49.341167829 [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 + 0.53sINFOobjective_server_node[0;93m2026-08-26 00:38:49.341203590 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 0.70sINFOobjective_server_node[2026-08-26 00:38:49.511] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 0.76sINFOobjective_server_node[0;93m2026-08-26 00:38:49.565634729 [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 + 0.76sINFOobjective_server_node[0;93m2026-08-26 00:38:49.569797775 [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 + 0.76sINFOobjective_server_node[0;93m2026-08-26 00:38:49.569824723 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 0.84sINFOobjective_server_node[2026-08-26 00:38:49.648] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.23sINFOobjective_server_node[0;93m2026-08-26 00:38:50.035227057 [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 + 1.26sINFOobjective_server_node[0;93m2026-08-26 00:38:50.062142533 [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 + 1.26sINFOobjective_server_node[0;93m2026-08-26 00:38:50.062183858 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.513342 ms (missed cycles : 3). + 1.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.513342 ms (missed cycles : 3).[0m ×2 + 2.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.043571 ms (missed cycles : 2). + 2.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.043571 ms (missed cycles : 2).[0m ×2 + 2.86sWARNros2_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 + 3.09sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1787704731.89526582 seconds ×3 + 3.17sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.17sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.17sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.17sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.18sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.18sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.18sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.18sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.19sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.19sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.19sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.191080 ms (missed cycles : 4). + 3.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.191080 ms (missed cycles : 4).[0m ×2 + 3.78sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1787704732.58832550 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.78sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.78sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.86sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.87sINFOobjective_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 + 4.15sINFOobjective_server_nodeFound path in 0 iterations (3.22e-07 s). ×2 + 4.16sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.18sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.20sINFOros2_control_node[2026-08-26 00:38:53.005] [info] Received new action goal ×2 + 4.20sINFOros2_control_node[2026-08-26 00:38:53.005] [info] Accepted new action goal ×2 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.957973 ms (missed cycles : 2). + 4.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.957973 ms (missed cycles : 2).[0m ×2 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.711771 ms (missed cycles : 2). + 5.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.711771 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | ML Segment Point Cloud | ml_segment_point_cloud.xml | 0.0s | 20 warnings · 73 info |
+ 0.00sINFOobjective_server_node[2026-08-26 00:38:48.807] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 0.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.169397 ms (missed cycles : 2). + 0.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.169397 ms (missed cycles : 2).[0m ×2 + 0.53sINFOobjective_server_node[0;93m2026-08-26 00:38:49.341167829 [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 + 0.53sINFOobjective_server_node[0;93m2026-08-26 00:38:49.341203590 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 0.70sINFOobjective_server_node[2026-08-26 00:38:49.511] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 0.76sINFOobjective_server_node[0;93m2026-08-26 00:38:49.565634729 [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 + 0.76sINFOobjective_server_node[0;93m2026-08-26 00:38:49.569797775 [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 + 0.76sINFOobjective_server_node[0;93m2026-08-26 00:38:49.569824723 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 0.84sINFOobjective_server_node[2026-08-26 00:38:49.648] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.23sINFOobjective_server_node[0;93m2026-08-26 00:38:50.035227057 [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 + 1.26sINFOobjective_server_node[0;93m2026-08-26 00:38:50.062142533 [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 + 1.26sINFOobjective_server_node[0;93m2026-08-26 00:38:50.062183858 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.513342 ms (missed cycles : 3). + 1.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.513342 ms (missed cycles : 3).[0m ×2 + 2.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.043571 ms (missed cycles : 2). + 2.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.043571 ms (missed cycles : 2).[0m ×2 + 2.86sWARNros2_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 + 3.09sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1787704731.89526582 seconds ×3 + 3.17sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.17sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.17sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.17sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.18sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.18sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.18sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.18sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.19sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.19sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.19sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.191080 ms (missed cycles : 4). + 3.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.191080 ms (missed cycles : 4).[0m ×2 + 3.78sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1787704732.58832550 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.78sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.78sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.86sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.87sINFOobjective_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 + 4.15sINFOobjective_server_nodeFound path in 0 iterations (3.22e-07 s). ×2 + 4.16sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.18sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.20sINFOros2_control_node[2026-08-26 00:38:53.005] [info] Received new action goal ×2 + 4.20sINFOros2_control_node[2026-08-26 00:38:53.005] [info] Accepted new action goal ×2 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.957973 ms (missed cycles : 2). + 4.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.957973 ms (missed cycles : 2).[0m ×2 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.711771 ms (missed cycles : 2). + 5.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.711771 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | ML Segment Point Cloud from Clicked Point | ml_segment_point_cloud_from_clicked_point.xml | 0.0s | 20 warnings · 73 info |
+ 0.00sINFOobjective_server_node[2026-08-26 00:38:48.807] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 0.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.169397 ms (missed cycles : 2). + 0.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.169397 ms (missed cycles : 2).[0m ×2 + 0.53sINFOobjective_server_node[0;93m2026-08-26 00:38:49.341167829 [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 + 0.53sINFOobjective_server_node[0;93m2026-08-26 00:38:49.341203590 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 0.70sINFOobjective_server_node[2026-08-26 00:38:49.511] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 0.76sINFOobjective_server_node[0;93m2026-08-26 00:38:49.565634729 [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 + 0.76sINFOobjective_server_node[0;93m2026-08-26 00:38:49.569797775 [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 + 0.76sINFOobjective_server_node[0;93m2026-08-26 00:38:49.569824723 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 0.84sINFOobjective_server_node[2026-08-26 00:38:49.648] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.23sINFOobjective_server_node[0;93m2026-08-26 00:38:50.035227057 [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 + 1.26sINFOobjective_server_node[0;93m2026-08-26 00:38:50.062142533 [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 + 1.26sINFOobjective_server_node[0;93m2026-08-26 00:38:50.062183858 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.513342 ms (missed cycles : 3). + 1.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.513342 ms (missed cycles : 3).[0m ×2 + 2.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.043571 ms (missed cycles : 2). + 2.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.043571 ms (missed cycles : 2).[0m ×2 + 2.86sWARNros2_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 + 3.09sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1787704731.89526582 seconds ×3 + 3.17sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.17sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.17sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.17sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.18sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.18sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.18sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.18sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.19sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.19sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.19sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.191080 ms (missed cycles : 4). + 3.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.191080 ms (missed cycles : 4).[0m ×2 + 3.78sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1787704732.58832550 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.78sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.78sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.86sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.87sINFOobjective_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 + 4.15sINFOobjective_server_nodeFound path in 0 iterations (3.22e-07 s). ×2 + 4.16sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.18sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.20sINFOros2_control_node[2026-08-26 00:38:53.005] [info] Received new action goal ×2 + 4.20sINFOros2_control_node[2026-08-26 00:38:53.005] [info] Accepted new action goal ×2 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.957973 ms (missed cycles : 2). + 4.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.957973 ms (missed cycles : 2).[0m ×2 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.711771 ms (missed cycles : 2). + 5.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.711771 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Move Along Square | move_along_square.xml | 0.0s | 20 warnings · 73 info |
+ 0.00sINFOobjective_server_node[2026-08-26 00:38:48.807] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 0.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.169397 ms (missed cycles : 2). + 0.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.169397 ms (missed cycles : 2).[0m ×2 + 0.53sINFOobjective_server_node[0;93m2026-08-26 00:38:49.341167829 [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 + 0.53sINFOobjective_server_node[0;93m2026-08-26 00:38:49.341203590 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 0.70sINFOobjective_server_node[2026-08-26 00:38:49.511] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 0.76sINFOobjective_server_node[0;93m2026-08-26 00:38:49.565634729 [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 + 0.76sINFOobjective_server_node[0;93m2026-08-26 00:38:49.569797775 [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 + 0.76sINFOobjective_server_node[0;93m2026-08-26 00:38:49.569824723 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 0.84sINFOobjective_server_node[2026-08-26 00:38:49.648] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.23sINFOobjective_server_node[0;93m2026-08-26 00:38:50.035227057 [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 + 1.26sINFOobjective_server_node[0;93m2026-08-26 00:38:50.062142533 [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 + 1.26sINFOobjective_server_node[0;93m2026-08-26 00:38:50.062183858 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.513342 ms (missed cycles : 3). + 1.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.513342 ms (missed cycles : 3).[0m ×2 + 2.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.043571 ms (missed cycles : 2). + 2.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.043571 ms (missed cycles : 2).[0m ×2 + 2.86sWARNros2_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 + 3.09sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1787704731.89526582 seconds ×3 + 3.17sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.17sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.17sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.17sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.18sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.18sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.18sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.18sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.19sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.19sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.19sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.191080 ms (missed cycles : 4). + 3.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.191080 ms (missed cycles : 4).[0m ×2 + 3.78sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1787704732.58832550 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.78sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.78sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.86sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.87sINFOobjective_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 + 4.15sINFOobjective_server_nodeFound path in 0 iterations (3.22e-07 s). ×2 + 4.16sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.18sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.20sINFOros2_control_node[2026-08-26 00:38:53.005] [info] Received new action goal ×2 + 4.20sINFOros2_control_node[2026-08-26 00:38:53.005] [info] Accepted new action goal ×2 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.957973 ms (missed cycles : 2). + 4.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.957973 ms (missed cycles : 2).[0m ×2 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.711771 ms (missed cycles : 2). + 5.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.711771 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | MPC Pose Tracking | mpc_pose_tracking.xml | 0.0s | 23 warnings · 91 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.574138 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.574138 ms (missed cycles : 3).[0m ×2 + 0.19sINFOobjective_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 + 0.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 0.20sINFOcontroller_managerDeactivating controllers: [ velocity_force_controller ] + 0.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 0.20sINFOros2_control_nodeDeactivating controllers: [ velocity_force_controller ][0m ×2 + 0.20sINFOcontroller_managerDeactivated controllers: [ velocity_force_controller ] + 0.20sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 0.20sINFOcontroller_managerSuccessfully switched controllers! ×4 + 0.20sINFOros2_control_nodeDeactivated controllers: [ velocity_force_controller ][0m ×2 + 0.20sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 0.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 0.29sINFOobjective_server_nodeFound path in 0 iterations (4.25e-07 s). ×2 + 0.30sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 0.32sINFOros2_control_node[2026-08-26 00:39:42.928] [info] Received new action goal ×2 + 0.32sINFOros2_control_node[2026-08-26 00:39:42.928] [info] Accepted new action goal ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.054746 ms (missed cycles : 2). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.054746 ms (missed cycles : 2).[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.327319 ms (missed cycles : 4). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.327319 ms (missed cycles : 4).[0m ×2 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.708463 ms (missed cycles : 2). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.708463 ms (missed cycles : 2).[0m ×2 + 3.29sWARNros2_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 + 3.92sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1787704786.53337669 seconds ×3 + 3.93sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.93sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.93sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.94sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.94sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.95sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.95sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.95sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.95sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.259642 ms (missed cycles : 2). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.259642 ms (missed cycles : 2).[0m ×2 + 4.54sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1787704787.14807773 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 (3.26e-07 s). ×2 + 4.70sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.70sINFOros2_control_node[2026-08-26 00:39:47.312] [info] Received new action goal ×2 + 4.70sINFOros2_control_node[2026-08-26 00:39:47.312] [info] Accepted new action goal ×2 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.626980 ms (missed cycles : 4). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.626980 ms (missed cycles : 4).[0m ×2 + 5.97sINFOobjective_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 + 5.98sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 6.03sINFOobjective_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 + 6.03sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] + 6.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.04sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.04sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] + 6.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 6.04sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.010753 ms (missed cycles : 2). + 6.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.010753 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Octomap Example | octomap_example.xml | 0.0s | 20 warnings · 2519 info |
+ 0.00sINFOros2_control_nodeAccepted new action goal[0m ×818 + 0.01sINFOjoint_trajectory_controllerReceived new action goal ×408 + 0.01sINFOjoint_trajectory_controllerAccepted new action goal ×408 + 0.01sINFOros2_control_nodeReceived new action goal[0m ×816 + 0.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.137317 ms (missed cycles : 2). + 0.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.137317 ms (missed cycles : 2).[0m ×2 + 1.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.879724 ms (missed cycles : 2). + 1.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.879724 ms (missed cycles : 2).[0m ×2 + 2.83sWARNros2_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 + 2.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.130052 ms (missed cycles : 3). + 2.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.130052 ms (missed cycles : 3).[0m ×2 + 3.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679200 ms (missed cycles : 2). + 3.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679200 ms (missed cycles : 2).[0m ×2 + 3.94sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1787704853.06992388 seconds ×3 + 3.95sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.95sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.95sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.95sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.96sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.96sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.96sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.96sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.96sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.96sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.96sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.97sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.97sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.97sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.97sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.58sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` starting at time: 1787704853.70565748 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.58sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.58sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.65sINFOobjective_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 + 4.65sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.65sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.65sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.65sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.65sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.65sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.65sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.65sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.76sINFOobjective_server_nodeFound path in 5 iterations (0.00630923 s). ×2 + 4.83sINFOobjective_server_nodePath shortcutter: [X______________________________X_________________________________X] ×2 + 4.85sINFOros2_control_node[2026-08-26 00:40:53.971] [info] Received new action goal ×2 + 4.85sINFOros2_control_node[2026-08-26 00:40:53.971] [info] Accepted new action goal ×2 + 4.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.575114 ms (missed cycles : 4). + 4.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.575114 ms (missed cycles : 4).[0m ×2 + 6.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.169904 ms (missed cycles : 7). + 6.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.169904 ms (missed cycles : 7).[0m ×2 | ||||
| − skipped | Pick from Pose | pick_from_pose.xml | 0.0s | 3 errors · 23 warnings · 63 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.884967 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.884967 ms (missed cycles : 3).[0m ×2 + 1.06sINFOros2_control_node[2026-08-26 00:41:31.205] [info] Received new action goal ×2 + 1.06sINFOros2_control_node[2026-08-26 00:41:31.205] [info] Accepted new action goal ×2 + 1.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.942158 ms (missed cycles : 3). + 1.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.942158 ms (missed cycles : 3).[0m ×2 + 2.45sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.45sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.055359 ms (missed cycles : 2). + 2.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.055359 ms (missed cycles : 2).[0m ×2 + 2.48sWARNros2_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 + 2.96sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.97sINFOros2_control_node[2026-08-26 00:41:33.119] [info] Received new action goal ×2 + 2.97sINFOros2_control_node[2026-08-26 00:41:33.119] [info] Accepted new action goal ×2 + 3.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.948271 ms (missed cycles : 3). + 3.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.948271 ms (missed cycles : 3).[0m ×2 + 3.82sINFOobjective_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 + 3.83sINFOros2_control_node[2026-08-26 00:41:33.975] [info] Got request to cancel active goal. ×2 + 3.83sINFOros2_control_node[2026-08-26 00:41:33.975] [info] Canceling active goal... ×2 + 3.84sERRORobjective_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: 1787704893.99032760 seconds ×3 + 3.89sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.89sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.89sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.89sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.89sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.89sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.90sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.90sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.90sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.90sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.91sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.91sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.700170 ms (missed cycles : 4). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.700170 ms (missed cycles : 4).[0m ×2 + 4.52sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1787704894.67522645 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 (4.69e-07 s). ×2 + 4.70sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.71sINFOros2_control_node[2026-08-26 00:41:34.859] [info] Received new action goal ×2 + 4.71sINFOros2_control_node[2026-08-26 00:41:34.859] [info] Accepted new action goal ×2 + 5.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.905513 ms (missed cycles : 2). + 5.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.905513 ms (missed cycles : 2).[0m ×2 + 6.62sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.087150 ms (missed cycles : 5). + 6.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.087150 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Pick from Pose Vector | pick_from_pose_vector.xml | 0.0s | 3 errors · 23 warnings · 63 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.884967 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.884967 ms (missed cycles : 3).[0m ×2 + 1.06sINFOros2_control_node[2026-08-26 00:41:31.205] [info] Received new action goal ×2 + 1.06sINFOros2_control_node[2026-08-26 00:41:31.205] [info] Accepted new action goal ×2 + 1.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.942158 ms (missed cycles : 3). + 1.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.942158 ms (missed cycles : 3).[0m ×2 + 2.45sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.45sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.055359 ms (missed cycles : 2). + 2.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.055359 ms (missed cycles : 2).[0m ×2 + 2.48sWARNros2_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 + 2.96sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.97sINFOros2_control_node[2026-08-26 00:41:33.119] [info] Received new action goal ×2 + 2.97sINFOros2_control_node[2026-08-26 00:41:33.119] [info] Accepted new action goal ×2 + 3.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.948271 ms (missed cycles : 3). + 3.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.948271 ms (missed cycles : 3).[0m ×2 + 3.82sINFOobjective_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 + 3.83sINFOros2_control_node[2026-08-26 00:41:33.975] [info] Got request to cancel active goal. ×2 + 3.83sINFOros2_control_node[2026-08-26 00:41:33.975] [info] Canceling active goal... ×2 + 3.84sERRORobjective_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: 1787704893.99032760 seconds ×3 + 3.89sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.89sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.89sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.89sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.89sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.89sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.90sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.90sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.90sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.90sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.91sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.91sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.700170 ms (missed cycles : 4). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.700170 ms (missed cycles : 4).[0m ×2 + 4.52sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1787704894.67522645 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 (4.69e-07 s). ×2 + 4.70sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.71sINFOros2_control_node[2026-08-26 00:41:34.859] [info] Received new action goal ×2 + 4.71sINFOros2_control_node[2026-08-26 00:41:34.859] [info] Accepted new action goal ×2 + 5.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.905513 ms (missed cycles : 2). + 5.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.905513 ms (missed cycles : 2).[0m ×2 + 6.62sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.087150 ms (missed cycles : 5). + 6.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.087150 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Pick from Pose With Approval | pick_from_pose_with_approval.xml | 0.0s | 3 errors · 23 warnings · 63 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.884967 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.884967 ms (missed cycles : 3).[0m ×2 + 1.06sINFOros2_control_node[2026-08-26 00:41:31.205] [info] Received new action goal ×2 + 1.06sINFOros2_control_node[2026-08-26 00:41:31.205] [info] Accepted new action goal ×2 + 1.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.942158 ms (missed cycles : 3). + 1.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.942158 ms (missed cycles : 3).[0m ×2 + 2.45sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.45sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.055359 ms (missed cycles : 2). + 2.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.055359 ms (missed cycles : 2).[0m ×2 + 2.48sWARNros2_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 + 2.96sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.97sINFOros2_control_node[2026-08-26 00:41:33.119] [info] Received new action goal ×2 + 2.97sINFOros2_control_node[2026-08-26 00:41:33.119] [info] Accepted new action goal ×2 + 3.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.948271 ms (missed cycles : 3). + 3.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.948271 ms (missed cycles : 3).[0m ×2 + 3.82sINFOobjective_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 + 3.83sINFOros2_control_node[2026-08-26 00:41:33.975] [info] Got request to cancel active goal. ×2 + 3.83sINFOros2_control_node[2026-08-26 00:41:33.975] [info] Canceling active goal... ×2 + 3.84sERRORobjective_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: 1787704893.99032760 seconds ×3 + 3.89sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.89sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.89sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.89sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.89sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.89sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.90sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.90sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.90sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.90sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.91sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.91sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.700170 ms (missed cycles : 4). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.700170 ms (missed cycles : 4).[0m ×2 + 4.52sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1787704894.67522645 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 (4.69e-07 s). ×2 + 4.70sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.71sINFOros2_control_node[2026-08-26 00:41:34.859] [info] Received new action goal ×2 + 4.71sINFOros2_control_node[2026-08-26 00:41:34.859] [info] Accepted new action goal ×2 + 5.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.905513 ms (missed cycles : 2). + 5.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.905513 ms (missed cycles : 2).[0m ×2 + 6.62sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.087150 ms (missed cycles : 5). + 6.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.087150 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Pick object | pick_object.xml | 0.0s | 3 errors · 23 warnings · 63 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.884967 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.884967 ms (missed cycles : 3).[0m ×2 + 1.06sINFOros2_control_node[2026-08-26 00:41:31.205] [info] Received new action goal ×2 + 1.06sINFOros2_control_node[2026-08-26 00:41:31.205] [info] Accepted new action goal ×2 + 1.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.942158 ms (missed cycles : 3). + 1.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.942158 ms (missed cycles : 3).[0m ×2 + 2.45sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.45sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.055359 ms (missed cycles : 2). + 2.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.055359 ms (missed cycles : 2).[0m ×2 + 2.48sWARNros2_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 + 2.96sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.97sINFOros2_control_node[2026-08-26 00:41:33.119] [info] Received new action goal ×2 + 2.97sINFOros2_control_node[2026-08-26 00:41:33.119] [info] Accepted new action goal ×2 + 3.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.948271 ms (missed cycles : 3). + 3.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.948271 ms (missed cycles : 3).[0m ×2 + 3.82sINFOobjective_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 + 3.83sINFOros2_control_node[2026-08-26 00:41:33.975] [info] Got request to cancel active goal. ×2 + 3.83sINFOros2_control_node[2026-08-26 00:41:33.975] [info] Canceling active goal... ×2 + 3.84sERRORobjective_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: 1787704893.99032760 seconds ×3 + 3.89sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.89sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.89sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.89sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.89sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.89sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.90sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.90sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.90sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.90sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.91sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.91sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.700170 ms (missed cycles : 4). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.700170 ms (missed cycles : 4).[0m ×2 + 4.52sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1787704894.67522645 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 (4.69e-07 s). ×2 + 4.70sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.71sINFOros2_control_node[2026-08-26 00:41:34.859] [info] Received new action goal ×2 + 4.71sINFOros2_control_node[2026-08-26 00:41:34.859] [info] Accepted new action goal ×2 + 5.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.905513 ms (missed cycles : 2). + 5.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.905513 ms (missed cycles : 2).[0m ×2 + 6.62sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.087150 ms (missed cycles : 5). + 6.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.087150 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Pick up Object | pick_up_cube.xml | 0.0s | 3 errors · 23 warnings · 63 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.884967 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.884967 ms (missed cycles : 3).[0m ×2 + 1.06sINFOros2_control_node[2026-08-26 00:41:31.205] [info] Received new action goal ×2 + 1.06sINFOros2_control_node[2026-08-26 00:41:31.205] [info] Accepted new action goal ×2 + 1.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.942158 ms (missed cycles : 3). + 1.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.942158 ms (missed cycles : 3).[0m ×2 + 2.45sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.45sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.055359 ms (missed cycles : 2). + 2.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.055359 ms (missed cycles : 2).[0m ×2 + 2.48sWARNros2_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 + 2.96sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.97sINFOros2_control_node[2026-08-26 00:41:33.119] [info] Received new action goal ×2 + 2.97sINFOros2_control_node[2026-08-26 00:41:33.119] [info] Accepted new action goal ×2 + 3.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.948271 ms (missed cycles : 3). + 3.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.948271 ms (missed cycles : 3).[0m ×2 + 3.82sINFOobjective_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 + 3.83sINFOros2_control_node[2026-08-26 00:41:33.975] [info] Got request to cancel active goal. ×2 + 3.83sINFOros2_control_node[2026-08-26 00:41:33.975] [info] Canceling active goal... ×2 + 3.84sERRORobjective_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: 1787704893.99032760 seconds ×3 + 3.89sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.89sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.89sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.89sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.89sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.89sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.90sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.90sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.90sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.90sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.91sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.91sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.700170 ms (missed cycles : 4). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.700170 ms (missed cycles : 4).[0m ×2 + 4.52sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1787704894.67522645 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 (4.69e-07 s). ×2 + 4.70sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.71sINFOros2_control_node[2026-08-26 00:41:34.859] [info] Received new action goal ×2 + 4.71sINFOros2_control_node[2026-08-26 00:41:34.859] [info] Accepted new action goal ×2 + 5.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.905513 ms (missed cycles : 2). + 5.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.905513 ms (missed cycles : 2).[0m ×2 + 6.62sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.087150 ms (missed cycles : 5). + 6.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.087150 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Place at Pose Vector | place_at_pose_vector.xml | 0.0s | 3 errors · 23 warnings · 63 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.884967 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.884967 ms (missed cycles : 3).[0m ×2 + 1.06sINFOros2_control_node[2026-08-26 00:41:31.205] [info] Received new action goal ×2 + 1.06sINFOros2_control_node[2026-08-26 00:41:31.205] [info] Accepted new action goal ×2 + 1.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.942158 ms (missed cycles : 3). + 1.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.942158 ms (missed cycles : 3).[0m ×2 + 2.45sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.45sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.055359 ms (missed cycles : 2). + 2.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.055359 ms (missed cycles : 2).[0m ×2 + 2.48sWARNros2_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 + 2.96sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.97sINFOros2_control_node[2026-08-26 00:41:33.119] [info] Received new action goal ×2 + 2.97sINFOros2_control_node[2026-08-26 00:41:33.119] [info] Accepted new action goal ×2 + 3.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.948271 ms (missed cycles : 3). + 3.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.948271 ms (missed cycles : 3).[0m ×2 + 3.82sINFOobjective_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 + 3.83sINFOros2_control_node[2026-08-26 00:41:33.975] [info] Got request to cancel active goal. ×2 + 3.83sINFOros2_control_node[2026-08-26 00:41:33.975] [info] Canceling active goal... ×2 + 3.84sERRORobjective_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: 1787704893.99032760 seconds ×3 + 3.89sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.89sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.89sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.89sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.89sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.89sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.90sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.90sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.90sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.90sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.91sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.91sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.700170 ms (missed cycles : 4). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.700170 ms (missed cycles : 4).[0m ×2 + 4.52sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1787704894.67522645 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 (4.69e-07 s). ×2 + 4.70sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.71sINFOros2_control_node[2026-08-26 00:41:34.859] [info] Received new action goal ×2 + 4.71sINFOros2_control_node[2026-08-26 00:41:34.859] [info] Accepted new action goal ×2 + 5.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.905513 ms (missed cycles : 2). + 5.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.905513 ms (missed cycles : 2).[0m ×2 + 6.62sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.087150 ms (missed cycles : 5). + 6.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.087150 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Place at Pose with Approval | place_at_pose_with_approval.xml | 0.0s | 3 errors · 23 warnings · 63 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.884967 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.884967 ms (missed cycles : 3).[0m ×2 + 1.06sINFOros2_control_node[2026-08-26 00:41:31.205] [info] Received new action goal ×2 + 1.06sINFOros2_control_node[2026-08-26 00:41:31.205] [info] Accepted new action goal ×2 + 1.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.942158 ms (missed cycles : 3). + 1.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.942158 ms (missed cycles : 3).[0m ×2 + 2.45sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.45sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.055359 ms (missed cycles : 2). + 2.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.055359 ms (missed cycles : 2).[0m ×2 + 2.48sWARNros2_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 + 2.96sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.97sINFOros2_control_node[2026-08-26 00:41:33.119] [info] Received new action goal ×2 + 2.97sINFOros2_control_node[2026-08-26 00:41:33.119] [info] Accepted new action goal ×2 + 3.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.948271 ms (missed cycles : 3). + 3.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.948271 ms (missed cycles : 3).[0m ×2 + 3.82sINFOobjective_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 + 3.83sINFOros2_control_node[2026-08-26 00:41:33.975] [info] Got request to cancel active goal. ×2 + 3.83sINFOros2_control_node[2026-08-26 00:41:33.975] [info] Canceling active goal... ×2 + 3.84sERRORobjective_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: 1787704893.99032760 seconds ×3 + 3.89sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.89sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.89sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.89sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.89sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.89sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.90sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.90sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.90sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.90sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.91sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.91sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.700170 ms (missed cycles : 4). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.700170 ms (missed cycles : 4).[0m ×2 + 4.52sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1787704894.67522645 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 (4.69e-07 s). ×2 + 4.70sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.71sINFOros2_control_node[2026-08-26 00:41:34.859] [info] Received new action goal ×2 + 4.71sINFOros2_control_node[2026-08-26 00:41:34.859] [info] Accepted new action goal ×2 + 5.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.905513 ms (missed cycles : 2). + 5.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.905513 ms (missed cycles : 2).[0m ×2 + 6.62sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.087150 ms (missed cycles : 5). + 6.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.087150 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Place Object | place_object.xml | 0.0s | 3 errors · 23 warnings · 63 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.884967 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.884967 ms (missed cycles : 3).[0m ×2 + 1.06sINFOros2_control_node[2026-08-26 00:41:31.205] [info] Received new action goal ×2 + 1.06sINFOros2_control_node[2026-08-26 00:41:31.205] [info] Accepted new action goal ×2 + 1.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.942158 ms (missed cycles : 3). + 1.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.942158 ms (missed cycles : 3).[0m ×2 + 2.45sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.45sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.055359 ms (missed cycles : 2). + 2.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.055359 ms (missed cycles : 2).[0m ×2 + 2.48sWARNros2_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 + 2.96sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.97sINFOros2_control_node[2026-08-26 00:41:33.119] [info] Received new action goal ×2 + 2.97sINFOros2_control_node[2026-08-26 00:41:33.119] [info] Accepted new action goal ×2 + 3.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.948271 ms (missed cycles : 3). + 3.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.948271 ms (missed cycles : 3).[0m ×2 + 3.82sINFOobjective_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 + 3.83sINFOros2_control_node[2026-08-26 00:41:33.975] [info] Got request to cancel active goal. ×2 + 3.83sINFOros2_control_node[2026-08-26 00:41:33.975] [info] Canceling active goal... ×2 + 3.84sERRORobjective_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: 1787704893.99032760 seconds ×3 + 3.89sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.89sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.89sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.89sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.89sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.89sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.90sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.90sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.90sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.90sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.91sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.91sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.700170 ms (missed cycles : 4). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.700170 ms (missed cycles : 4).[0m ×2 + 4.52sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1787704894.67522645 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 (4.69e-07 s). ×2 + 4.70sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.71sINFOros2_control_node[2026-08-26 00:41:34.859] [info] Received new action goal ×2 + 4.71sINFOros2_control_node[2026-08-26 00:41:34.859] [info] Accepted new action goal ×2 + 5.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.905513 ms (missed cycles : 2). + 5.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.905513 ms (missed cycles : 2).[0m ×2 + 6.62sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.087150 ms (missed cycles : 5). + 6.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.087150 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Plan Move To Pose | plan_move_to_pose.xml | 0.0s | 3 errors · 23 warnings · 42 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.273335 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.273335 ms (missed cycles : 2).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.000629 ms (missed cycles : 4). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.000629 ms (missed cycles : 4).[0m ×2 + 1.62sWARNros2_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 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.827701 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.827701 ms (missed cycles : 2).[0m ×2 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.523172 ms (missed cycles : 2). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.523172 ms (missed cycles : 2).[0m ×2 + 3.80sINFOobjective_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 + 3.81sERRORobjective_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: 1787704904.87578702 seconds ×3 + 3.84sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.84sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.84sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.84sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.84sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.84sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.85sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.85sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.85sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.85sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.86sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.86sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.278686 ms (missed cycles : 2). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.278686 ms (missed cycles : 2).[0m ×2 + 4.43sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1787704905.49770093 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.62sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.73sINFOobjective_server_nodeFound path in 0 iterations (3.62e-07 s). ×2 + 4.74sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 4.75sINFOros2_control_node[2026-08-26 00:41:45.824] [info] Received new action goal ×2 + 4.75sINFOros2_control_node[2026-08-26 00:41:45.824] [info] Accepted new action goal ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.395512 ms (missed cycles : 4). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.395512 ms (missed cycles : 4).[0m ×2 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.104932 ms (missed cycles : 4). + 6.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.104932 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Push Button With a Trajectory | push_button_with_a_trajectory.xml | 0.0s | 23 warnings · 45 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.627091 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.627091 ms (missed cycles : 2).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.176353 ms (missed cycles : 4). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.176353 ms (missed cycles : 4).[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.705698 ms (missed cycles : 5). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.705698 ms (missed cycles : 5).[0m ×2 + 2.81sWARNros2_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 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.986644 ms (missed cycles : 2). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.986644 ms (missed cycles : 2).[0m ×2 + 3.64sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1787704915.42687631 seconds ×3 + 3.65sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.65sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.65sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.65sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.66sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.66sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.66sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.66sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.25sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1787704916.03746748 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.27sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.436208 ms (missed cycles : 2). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.436208 ms (missed cycles : 2).[0m ×2 + 4.38sINFOobjective_server_nodeFound path in 0 iterations (3.05e-07 s). ×2 + 4.38sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.39sINFOros2_control_node[2026-08-26 00:41:56.182] [info] Received new action goal ×2 + 4.39sINFOros2_control_node[2026-08-26 00:41:56.182] [info] Accepted new action goal ×2 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.427403 ms (missed cycles : 4). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.427403 ms (missed cycles : 4).[0m ×2 + 6.30sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.107383 ms (missed cycles : 2). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.107383 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Take Wrist Camera Image | take_picture_with_wrist_camera.xml | 0.0s | 3 errors · 25 warnings · 131 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879454 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879454 ms (missed cycles : 2).[0m ×2 + 0.90sWARNros2_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 ×4 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.807613 ms (missed cycles : 5). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.807613 ms (missed cycles : 5).[0m ×2 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.141660 ms (missed cycles : 4). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.141660 ms (missed cycles : 4).[0m ×2 + 3.06sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.07sINFOros2_control_node[2026-08-26 00:42:18.879] [info] Got request to cancel active goal. ×2 + 3.07sINFOros2_control_node[2026-08-26 00:42:18.879] [info] Canceling active goal... ×2 + 3.07sERRORobjective_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: 1787704938.88364267 seconds ×3 + 3.08sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.09sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.09sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 3.09sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.09sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 3.09sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.09sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 3.09sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.10sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.10sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.10sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.053315 ms (missed cycles : 3). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.053315 ms (missed cycles : 3).[0m ×2 + 3.67sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1787704939.47818398 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.387034 ms (missed cycles : 3). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.387034 ms (missed cycles : 3).[0m ×2 + 4.39sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1787704940.19831848 seconds ×3 + 5.02sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1787704940.83060384 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.02sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 5.02sINFOobjective_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 + 5.02sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 5.02sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1787704940.83352089 seconds ×3 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.912362 ms (missed cycles : 3). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.912362 ms (missed cycles : 3).[0m ×2 + 5.74sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1787704941.55166054 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.74sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1787704941.55217767 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 · 231 info |
+ 0.00sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.00sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.00sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.00sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.01sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.03sINFOros2_control_node[2026-08-26 00:37:21.669] [info] Controller state will be published at 20 Hz. ×2 + 0.03sINFOros2_control_node[2026-08-26 00:37:21.670] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.38sINFOros2-8process has finished cleanly [pid 8837] ×2 + 0.40sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787704642.03547120 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.40sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.40sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.637015 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.637015 ms (missed cycles : 2).[0m ×2 + 1.46sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787704643.09561563 seconds ×3 + 1.49sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.50sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.50sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.50sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.50sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.50sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.50sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.50sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.50sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.50sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.51sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.51sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.74sWARNros2_control_nodeCamera render tick took 1.94 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 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.705710 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.705710 ms (missed cycles : 2).[0m ×2 + 2.09sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787704643.73021770 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.15sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787704643.79042387 seconds ×3 + 2.81sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787704644.44447231 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787704644.46460342 seconds ×3 + 3.02sWARNros2_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 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.154964 ms (missed cycles : 4). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.154964 ms (missed cycles : 4).[0m ×2 + 3.42sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787704645.06335068 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787704645.21389341 seconds ×3 + 4.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.505849 ms (missed cycles : 4). + 4.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.505849 ms (missed cycles : 4).[0m ×2 + 4.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787704645.92123270 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.31sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.31sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.32sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.32sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.32sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.33sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787704645.97136688 seconds ×3 + 4.94sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787704646.58259773 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.96sINFOobjective_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 + 4.96sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.96sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.96sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.96sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.96sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.96sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.96sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.96sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.06sINFOobjective_server_nodeFound path in 0 iterations (2.4174e-05 s). ×2 + 5.06sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.08sINFOros2_control_node[2026-08-26 00:37:26.719] [info] Received new action goal ×2 + 5.08sINFOros2_control_node[2026-08-26 00:37:26.719] [info] Accepted new action goal ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.198650 ms (missed cycles : 5). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.198650 ms (missed cycles : 5).[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.944090 ms (missed cycles : 3). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.944090 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | segment_image_from_no_negative_text_prompt_subtree.xml | 0.0s | 22 warnings · 231 info |
+ 0.00sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.00sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.00sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.00sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.01sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.03sINFOros2_control_node[2026-08-26 00:37:21.669] [info] Controller state will be published at 20 Hz. ×2 + 0.03sINFOros2_control_node[2026-08-26 00:37:21.670] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.38sINFOros2-8process has finished cleanly [pid 8837] ×2 + 0.40sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787704642.03547120 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.40sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.40sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.637015 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.637015 ms (missed cycles : 2).[0m ×2 + 1.46sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787704643.09561563 seconds ×3 + 1.49sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.50sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.50sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.50sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.50sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.50sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.50sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.50sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.50sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.50sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.51sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.51sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.74sWARNros2_control_nodeCamera render tick took 1.94 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 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.705710 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.705710 ms (missed cycles : 2).[0m ×2 + 2.09sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787704643.73021770 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.15sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787704643.79042387 seconds ×3 + 2.81sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787704644.44447231 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787704644.46460342 seconds ×3 + 3.02sWARNros2_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 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.154964 ms (missed cycles : 4). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.154964 ms (missed cycles : 4).[0m ×2 + 3.42sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787704645.06335068 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787704645.21389341 seconds ×3 + 4.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.505849 ms (missed cycles : 4). + 4.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.505849 ms (missed cycles : 4).[0m ×2 + 4.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787704645.92123270 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.31sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.31sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.32sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.32sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.32sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.33sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787704645.97136688 seconds ×3 + 4.94sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787704646.58259773 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.96sINFOobjective_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 + 4.96sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.96sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.96sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.96sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.96sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.96sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.96sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.96sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.06sINFOobjective_server_nodeFound path in 0 iterations (2.4174e-05 s). ×2 + 5.06sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.08sINFOros2_control_node[2026-08-26 00:37:26.719] [info] Received new action goal ×2 + 5.08sINFOros2_control_node[2026-08-26 00:37:26.719] [info] Accepted new action goal ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.198650 ms (missed cycles : 5). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.198650 ms (missed cycles : 5).[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.944090 ms (missed cycles : 3). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.944090 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | segment_image_from_point_subtree.xml | 0.0s | 22 warnings · 231 info |
+ 0.00sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.00sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.00sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.00sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.01sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.03sINFOros2_control_node[2026-08-26 00:37:21.669] [info] Controller state will be published at 20 Hz. ×2 + 0.03sINFOros2_control_node[2026-08-26 00:37:21.670] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.38sINFOros2-8process has finished cleanly [pid 8837] ×2 + 0.40sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787704642.03547120 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.40sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.40sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.637015 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.637015 ms (missed cycles : 2).[0m ×2 + 1.46sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787704643.09561563 seconds ×3 + 1.49sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.50sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.50sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.50sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.50sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.50sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.50sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.50sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.50sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.50sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.51sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.51sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.74sWARNros2_control_nodeCamera render tick took 1.94 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 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.705710 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.705710 ms (missed cycles : 2).[0m ×2 + 2.09sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787704643.73021770 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.15sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787704643.79042387 seconds ×3 + 2.81sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787704644.44447231 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787704644.46460342 seconds ×3 + 3.02sWARNros2_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 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.154964 ms (missed cycles : 4). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.154964 ms (missed cycles : 4).[0m ×2 + 3.42sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787704645.06335068 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787704645.21389341 seconds ×3 + 4.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.505849 ms (missed cycles : 4). + 4.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.505849 ms (missed cycles : 4).[0m ×2 + 4.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787704645.92123270 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.31sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.31sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.32sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.32sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.32sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.33sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787704645.97136688 seconds ×3 + 4.94sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787704646.58259773 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.96sINFOobjective_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 + 4.96sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.96sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.96sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.96sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.96sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.96sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.96sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.96sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.06sINFOobjective_server_nodeFound path in 0 iterations (2.4174e-05 s). ×2 + 5.06sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.08sINFOros2_control_node[2026-08-26 00:37:26.719] [info] Received new action goal ×2 + 5.08sINFOros2_control_node[2026-08-26 00:37:26.719] [info] Accepted new action goal ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.198650 ms (missed cycles : 5). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.198650 ms (missed cycles : 5).[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.944090 ms (missed cycles : 3). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.944090 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | segment_image_from_text_prompt_subtree.xml | 0.0s | 22 warnings · 231 info |
+ 0.00sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.00sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.00sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.00sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.01sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.03sINFOros2_control_node[2026-08-26 00:37:21.669] [info] Controller state will be published at 20 Hz. ×2 + 0.03sINFOros2_control_node[2026-08-26 00:37:21.670] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.38sINFOros2-8process has finished cleanly [pid 8837] ×2 + 0.40sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787704642.03547120 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.40sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.40sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.637015 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.637015 ms (missed cycles : 2).[0m ×2 + 1.46sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787704643.09561563 seconds ×3 + 1.49sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.50sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.50sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.50sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.50sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.50sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.50sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.50sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.50sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.50sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.51sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.51sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.74sWARNros2_control_nodeCamera render tick took 1.94 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 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.705710 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.705710 ms (missed cycles : 2).[0m ×2 + 2.09sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787704643.73021770 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.15sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787704643.79042387 seconds ×3 + 2.81sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787704644.44447231 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787704644.46460342 seconds ×3 + 3.02sWARNros2_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 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.154964 ms (missed cycles : 4). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.154964 ms (missed cycles : 4).[0m ×2 + 3.42sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787704645.06335068 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787704645.21389341 seconds ×3 + 4.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.505849 ms (missed cycles : 4). + 4.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.505849 ms (missed cycles : 4).[0m ×2 + 4.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787704645.92123270 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.31sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.31sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.32sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.32sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.32sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.33sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787704645.97136688 seconds ×3 + 4.94sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787704646.58259773 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.96sINFOobjective_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 + 4.96sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.96sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.96sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.96sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.96sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.96sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.96sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.96sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.06sINFOobjective_server_nodeFound path in 0 iterations (2.4174e-05 s). ×2 + 5.06sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.08sINFOros2_control_node[2026-08-26 00:37:26.719] [info] Received new action goal ×2 + 5.08sINFOros2_control_node[2026-08-26 00:37:26.719] [info] Accepted new action goal ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.198650 ms (missed cycles : 5). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.198650 ms (missed cycles : 5).[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.944090 ms (missed cycles : 3). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.944090 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | segment_point_cloud_from_text_prompt_subtree.xml | 0.0s | 22 warnings · 231 info |
+ 0.00sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.00sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.00sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.00sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.01sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.03sINFOros2_control_node[2026-08-26 00:37:21.669] [info] Controller state will be published at 20 Hz. ×2 + 0.03sINFOros2_control_node[2026-08-26 00:37:21.670] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.38sINFOros2-8process has finished cleanly [pid 8837] ×2 + 0.40sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787704642.03547120 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.40sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.40sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.637015 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.637015 ms (missed cycles : 2).[0m ×2 + 1.46sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787704643.09561563 seconds ×3 + 1.49sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.50sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.50sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.50sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.50sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.50sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.50sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.50sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.50sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.50sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.51sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.51sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.74sWARNros2_control_nodeCamera render tick took 1.94 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 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.705710 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.705710 ms (missed cycles : 2).[0m ×2 + 2.09sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787704643.73021770 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.15sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787704643.79042387 seconds ×3 + 2.81sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787704644.44447231 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787704644.46460342 seconds ×3 + 3.02sWARNros2_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 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.154964 ms (missed cycles : 4). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.154964 ms (missed cycles : 4).[0m ×2 + 3.42sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787704645.06335068 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787704645.21389341 seconds ×3 + 4.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.505849 ms (missed cycles : 4). + 4.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.505849 ms (missed cycles : 4).[0m ×2 + 4.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787704645.92123270 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.31sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.31sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.32sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.32sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.32sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.33sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787704645.97136688 seconds ×3 + 4.94sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787704646.58259773 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.96sINFOobjective_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 + 4.96sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.96sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.96sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.96sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.96sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.96sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.96sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.96sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.06sINFOobjective_server_nodeFound path in 0 iterations (2.4174e-05 s). ×2 + 5.06sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.08sINFOros2_control_node[2026-08-26 00:37:26.719] [info] Received new action goal ×2 + 5.08sINFOros2_control_node[2026-08-26 00:37:26.719] [info] Accepted new action goal ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.198650 ms (missed cycles : 5). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.198650 ms (missed cycles : 5).[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.944090 ms (missed cycles : 3). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.944090 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | visualize_segmented_point_cloud.xml | 0.0s | 22 warnings · 231 info |
+ 0.00sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.00sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.00sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.00sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.01sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.03sINFOros2_control_node[2026-08-26 00:37:21.669] [info] Controller state will be published at 20 Hz. ×2 + 0.03sINFOros2_control_node[2026-08-26 00:37:21.670] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.38sINFOros2-8process has finished cleanly [pid 8837] ×2 + 0.40sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787704642.03547120 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.40sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.40sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.637015 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.637015 ms (missed cycles : 2).[0m ×2 + 1.46sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787704643.09561563 seconds ×3 + 1.49sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.50sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.50sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.50sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.50sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.50sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.50sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.50sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.50sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.50sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.51sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.51sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.74sWARNros2_control_nodeCamera render tick took 1.94 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 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.705710 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.705710 ms (missed cycles : 2).[0m ×2 + 2.09sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787704643.73021770 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.15sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787704643.79042387 seconds ×3 + 2.81sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787704644.44447231 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787704644.46460342 seconds ×3 + 3.02sWARNros2_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 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.154964 ms (missed cycles : 4). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.154964 ms (missed cycles : 4).[0m ×2 + 3.42sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787704645.06335068 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787704645.21389341 seconds ×3 + 4.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.505849 ms (missed cycles : 4). + 4.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.505849 ms (missed cycles : 4).[0m ×2 + 4.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787704645.92123270 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.31sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.31sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.32sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.32sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.32sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.33sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787704645.97136688 seconds ×3 + 4.94sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787704646.58259773 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.96sINFOobjective_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 + 4.96sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.96sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.96sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.96sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.96sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.96sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.96sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.96sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.06sINFOobjective_server_nodeFound path in 0 iterations (2.4174e-05 s). ×2 + 5.06sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.08sINFOros2_control_node[2026-08-26 00:37:26.719] [info] Received new action goal ×2 + 5.08sINFOros2_control_node[2026-08-26 00:37:26.719] [info] Accepted new action goal ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.198650 ms (missed cycles : 5). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.198650 ms (missed cycles : 5).[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.944090 ms (missed cycles : 3). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.944090 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | segment_point_cloud_from_clicked_point_subtree.xml | 0.0s | 22 warnings · 231 info |
+ 0.00sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.00sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.00sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.00sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.01sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.03sINFOros2_control_node[2026-08-26 00:37:21.669] [info] Controller state will be published at 20 Hz. ×2 + 0.03sINFOros2_control_node[2026-08-26 00:37:21.670] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.38sINFOros2-8process has finished cleanly [pid 8837] ×2 + 0.40sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787704642.03547120 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.40sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.40sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.637015 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.637015 ms (missed cycles : 2).[0m ×2 + 1.46sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787704643.09561563 seconds ×3 + 1.49sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.50sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.50sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.50sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.50sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.50sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.50sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.50sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.50sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.50sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.51sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.51sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.74sWARNros2_control_nodeCamera render tick took 1.94 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 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.705710 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.705710 ms (missed cycles : 2).[0m ×2 + 2.09sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787704643.73021770 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.15sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787704643.79042387 seconds ×3 + 2.81sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787704644.44447231 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787704644.46460342 seconds ×3 + 3.02sWARNros2_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 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.154964 ms (missed cycles : 4). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.154964 ms (missed cycles : 4).[0m ×2 + 3.42sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787704645.06335068 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787704645.21389341 seconds ×3 + 4.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.505849 ms (missed cycles : 4). + 4.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.505849 ms (missed cycles : 4).[0m ×2 + 4.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787704645.92123270 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.31sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.31sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.32sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.32sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.32sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.33sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787704645.97136688 seconds ×3 + 4.94sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787704646.58259773 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.96sINFOobjective_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 + 4.96sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.96sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.96sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.96sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.96sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.96sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.96sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.96sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.06sINFOobjective_server_nodeFound path in 0 iterations (2.4174e-05 s). ×2 + 5.06sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.08sINFOros2_control_node[2026-08-26 00:37:26.719] [info] Received new action goal ×2 + 5.08sINFOros2_control_node[2026-08-26 00:37:26.719] [info] Accepted new action goal ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.198650 ms (missed cycles : 5). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.198650 ms (missed cycles : 5).[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.944090 ms (missed cycles : 3). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.944090 ms (missed cycles : 3).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/core3 pass8 skip
| ✓ passed | — | clear_snapshot.xml | 8.9s | 40 warnings · 596 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/2026-08-26-00-37-12-572453-80992675f7bd-8782 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 1.86sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 1.87sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 1.87sINFOcontroller_managerupdate rate is 600 Hz + 1.87sINFOcontroller_managerOverruns handling is : enabled + 1.87sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 1.87sWARNcontroller_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. + 1.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.138621 ms (missed cycles : 2). + 2.10sINFOros2_control_node-1process started with pid [8830] ×2 + 2.10sINFOmove_group-9process started with pid [8867] ×2 + 2.10sINFOparameter_manager_node-10process started with pid [8868] ×2 + 2.10sINFOwaypoint_manager_node-11process started with pid [8869] ×2 + 2.10sINFOmove_joint_resampler_node-12process started with pid [8870] ×2 + 2.10sINFOmove_end_effector_resampler_node-13process started with pid [8871] ×2 + 2.10sINFOobjective_server_node_main-14process started with pid [8872] ×2 + 2.10sINFOcomponent_container_mt-15process started with pid [8873] ×2 + 2.10sINFOcomponent_container_mt-16process started with pid [8874] ×2 + 2.10sINFOexecute_objective_bridge-17process started with pid [8875] ×2 + 2.10sINFOui_teleop_bridge-18process started with pid [8876] ×2 + 2.10sINFOweb_bridge-19process started with pid [8877] ×2 + 2.10sINFOtf2_web_republisher_node-20process started with pid [8941] ×2 + 2.10sINFOvideo_server-21process started with pid [8942] ×2 + 2.10sINFOweb_bridge_auth_proxy-22process started with pid [8943] ×2 + 2.10sINFOweb_video_auth_proxy-23process started with pid [8944] ×2 + 2.12sINFOros2-2process started with pid [8831] ×2 + 2.12sINFOros2-3process started with pid [8832] ×2 + 2.12sINFOros2-4process started with pid [8833] ×2 + 2.12sINFOros2-5process started with pid [8834] ×2 + 2.12sINFOros2-6process started with pid [8835] ×2 + 2.12sINFOros2-7process started with pid [8836] ×2 + 2.12sINFOros2-8process started with pid [8837] ×2 + 2.15sINFOcontroller_managerReceived robot description from topic. + 2.15sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 2.17sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 2.17sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 2.17sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 2.17sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 2.17sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 2.17sWARNros2_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 + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.138621 ms (missed cycles : 2).[0m ×2 + 2.17sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 2.17sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 2.17sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 2.17sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 2.19sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 2.23sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 2.43sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 2.57sINFOvideo_server2026/08/26 00:37:15 INF MediaMTX v1.19.3, linux, amd64 ×2 + 2.57sINFOvideo_server2026/08/26 00:37:15 INF configuration loaded from /tmp/moveit-webrtc-ymv_bypl/mediamtx.yml ×2 + 2.57sINFOvideo_server2026/08/26 00:37:15 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 + 2.58sINFOvideo_server2026/08/26 00:37:15 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.155085 ms (missed cycles : 5). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.155085 ms (missed cycles : 5).[0m ×2 + 3.18sINFOmove_group[2026-08-26 00:37:16.517] [moveit_pro_license] [info] ×2 + 3.19sINFOmove_group************************************************* ×4 + 3.19sINFOmove_group* MoveIt Pro License ×2 + 3.19sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 3.35sINFOwaypoint_manager_node[2026-08-26 00:37:16.698] [moveit_pro_license] [info] ×2 + 3.35sINFOwaypoint_manager_node************************************************* ×4 + 3.35sINFOwaypoint_manager_node* MoveIt Pro License ×2 + 3.35sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 3.49sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 3.52sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 3.53sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 3.53sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 3.53sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 3.62sINFOspawner_force_torque_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 3.62sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 3.63sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 3.69sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 3.69sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 3.70sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 3.70sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 3.70sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 3.70sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 3.71sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 3.78sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 3.87sINFOmove_group ×4 + 3.87sINFOmove_group[92mYou can start planning now![0m ×2 + 4.68sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 4.89sINFOobjective_server_node[2026-08-26 00:37:18.232] [moveit_pro_license] [info] ×2 + 4.89sINFOobjective_server_node************************************************* ×4 + 4.89sINFOobjective_server_node* MoveIt Pro License ×2 + 4.89sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 5.01sINFOobjective_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 + 5.01sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 5.02sINFOobjective_server_nodeLoading 7 behavior loader plugin(s): ×2 + 5.02sINFOobjective_server_nodemoveit_pro::behaviors::MPCBehaviorsLoader ×2 + 5.02sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 5.02sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 5.02sINFOobjective_server_nodelab_sim_behaviors::LabSimBehaviorsLoader ×2 + 5.02sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 5.02sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 5.02sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 5.19sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 5.36sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 5.37sINFOcomponent_container_mt[2026-08-26 00:37:18.714] [moveit_pro_license] [info] ×2 + 5.37sINFOcomponent_container_mt************************************************* ×4 + 5.37sINFOcomponent_container_mt* MoveIt Pro License ×2 + 5.37sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 5.40sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 5.40sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 5.42sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 5.57sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 5.57sWARNros2_control_nodeNo keyframe specified, applying first keyframe to set initial state.[0m ×2 + 5.57sINFOros2_control_nodeResolved base link to MuJoCo body `world` (id 0) via URDF chain walk.[0m ×2 + 5.57sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 5.57sWARNros2_control_node16 MuJoCo bodies do not sit where the URDF places the same-named link. Sensor sites on these links are parented to an ancestor whose frames agree, so sensor frames stay correct, but the collision geometry MoveIt plans against does not match what MuJoCo simulates. Descendants inherit their ancestor's error, so correct the first link listed: ×2 + 5.57sINFOros2_control_nodebase: 0.0002 m, 3.1416 rad ×2 + 5.58sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 5.58sINFOros2_control_nodeshoulder_link: 0.0006 m, 3.1416 rad ×2 + 5.58sINFOros2_control_nodeupper_arm_link: 0.1380 m, 2.0944 rad ×2 + 5.58sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 5.58sINFOros2_control_nodeforearm_link: 0.0070 m, 2.0944 rad ×2 + 5.58sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 5.58sINFOros2_control_nodewrist_1_link: 0.1264 m, 1.5708 rad ×2 + 5.58sINFOros2_control_nodewrist_2_link: 0.1004 m, 0.0000 rad ×2 + 5.58sINFOros2_control_nodewrist_3_link: 0.1003 m, 1.5708 rad ×2 + 5.58sINFOros2_control_noderobotiq_85_base_link: 0.0073 m, 1.5708 rad ×2 + 5.58sINFOros2_control_noderobotiq_85_left_inner_knuckle_link: 0.0078 m, 1.5708 rad ×2 + 5.58sINFOros2_control_noderobotiq_85_left_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 5.58sINFOros2_control_noderobotiq_85_right_inner_knuckle_link: 0.0079 m, 1.5708 rad ×2 + 5.58sINFOros2_control_noderobotiq_85_right_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 5.58sINFOros2_control_noderobotiq_85_left_finger_link: 0.0076 m, 1.5708 rad ×2 + 5.58sINFOros2_control_noderobotiq_85_left_finger_tip_link: 0.1092 m, 2.0014 rad ×2 + 5.58sINFOros2_control_noderobotiq_85_right_finger_link: 0.0076 m, 1.5708 rad ×2 + 5.58sINFOros2_control_noderobotiq_85_right_finger_tip_link: 0.1096 m, 2.0014 rad[0m ×2 + 5.58sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 5.58sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 5.58sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 5.58sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 5.58sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 5.58sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 5.58sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 5.58sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 5.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684272 ms (missed cycles : 2). + 5.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684272 ms (missed cycles : 2).[0m ×2 + 5.63sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 5.63sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 5.63sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 5.63sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 5.63sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_wueeq6v7 --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_oh8pkndy --params-file /tmp/launch_params_u_iz44jq + 5.63sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_wueeq6v7 --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_oh8pkndy --params-file /tmp/launch_params_u_iz44jq [0m ×2 + 5.64sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 5.64sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 5.65sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 5.65sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 5.65sINFOforce_torque_sensor_broadcasterconfigure successful + 5.65sINFOros2_control_nodeconfigure successful[0m ×2 + 5.65sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 5.66sINFOcontroller_managerSuccessfully switched controllers! ×12 + 5.66sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 5.66sINFOros2_control_nodeSuccessfully switched controllers![0m ×24 + 5.66sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 5.66sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 5.95sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 5.95sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 5.95sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 5.95sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 5.96sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_wueeq6v7 --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_oh8pkndy --params-file /tmp/launch_params_u_iz44jq + 5.96sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_wueeq6v7 --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_oh8pkndy --params-file /tmp/launch_params_u_iz44jq [0m ×2 + 5.99sINFOros2-2process has finished cleanly [pid 8831] ×2 + 6.00sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 6.00sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 6.00sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 6.00sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 6.00sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 6.01sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 6.01sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 6.01sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 6.02sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 6.02sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 6.14sINFOros2_control_nodeMuJoCo offscreen rendering bound to EGL vendor 'Mesa Project' (1.5).[0m ×2 + 6.31sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 6.31sINFOcontroller_managerLoading controller 'velocity_force_controller' + 6.31sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 6.31sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 6.36sINFOros2-4process has finished cleanly [pid 8833] ×2 + 6.45sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_wueeq6v7 --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_oh8pkndy --params-file /tmp/launch_params_u_iz44jq + 6.45sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_wueeq6v7 --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_oh8pkndy --params-file /tmp/launch_params_u_iz44jq [0m ×2 + 6.50sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 6.50sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 6.50sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 6.51sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 6.51sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 6.53sINFOros2_control_node[2026-08-26 00:37:19.878] [info] Controller state will be published at 10 Hz. ×2 + 6.53sINFOros2_control_node[2026-08-26 00:37:19.879] [info] VelocityForceController 'on_configure' succeeded. ×2 + 6.54sWARNobjective_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 + 6.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.200500 ms (missed cycles : 5). + 6.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.200500 ms (missed cycles : 5).[0m ×2 + 6.90sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 6.90sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 6.90sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 6.90sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 6.91sINFOros2-7process has finished cleanly [pid 8836] ×2 + 6.98sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_wueeq6v7 --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_oh8pkndy --params-file /tmp/launch_params_u_iz44jq + 6.98sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_wueeq6v7 --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_oh8pkndy --params-file /tmp/launch_params_u_iz44jq [0m ×2 + 7.02sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 7.02sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 7.02sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 7.02sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 7.03sINFOros2_control_node[2026-08-26 00:37:20.369] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 7.03sINFOros2_control_node[2026-08-26 00:37:20.369] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 7.05sINFOros2_control_node[2026-08-26 00:37:20.394] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 7.05sINFOros2_control_node[2026-08-26 00:37:20.394] [info] Controller state will be published at 50 Hz. ×2 + 7.06sINFOros2_control_node[2026-08-26 00:37:20.405] [info] Registered `FollowJointTrajectory` action server. ×2 + 7.34sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 7.36sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 7.36sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 7.36sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 7.36sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 7.36sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_wueeq6v7 --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_oh8pkndy --params-file /tmp/launch_params_u_iz44jq + 7.36sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_wueeq6v7 --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_oh8pkndy --params-file /tmp/launch_params_u_iz44jq [0m ×2 + 7.41sINFOros2-6process has finished cleanly [pid 8835] ×2 + 7.42sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×10 + 7.43sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×10 + 7.43sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 7.43sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 7.43sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 7.43sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 7.43sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 7.43sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 7.43sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 7.43sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 7.43sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 7.43sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 7.44sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 7.44sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 7.44sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 7.44sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 7.44sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 7.44sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 7.45sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 7.45sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 7.76sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 7.76sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 7.76sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 7.76sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 7.77sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_wueeq6v7 --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_oh8pkndy --params-file /tmp/launch_params_u_iz44jq + 7.77sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_wueeq6v7 --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_oh8pkndy --params-file /tmp/launch_params_u_iz44jq [0m ×2 + 7.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.777980 ms (missed cycles : 2). + 7.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.777980 ms (missed cycles : 2).[0m ×2 + 7.78sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 7.78sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 7.79sINFOros2-5process has finished cleanly [pid 8834] ×2 + 7.82sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 7.82sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 7.82sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 7.82sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 7.82sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 7.82sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 7.82sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 7.82sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 7.83sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 7.83sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 7.97sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 8.09sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787704641.43127227 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 8.10sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787704641.44149327 seconds ×3 + 8.10sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×4 + 8.10sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 8.10sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×8 + 8.11sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 8.11sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 8.11sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 8.12sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×4 + 8.12sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×8 + 8.12sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×4 + 8.12sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×8 + 8.17sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 8.17sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 8.17sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 8.17sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 8.18sINFOros2-3process has finished cleanly [pid 8832] ×2 + 8.25sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_wueeq6v7 --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_oh8pkndy --params-file /tmp/launch_params_u_iz44jq + 8.25sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_wueeq6v7 --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_oh8pkndy --params-file /tmp/launch_params_u_iz44jq [0m ×2 + 8.29sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 8.29sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 8.29sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 8.30sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 8.32sINFOros2_control_node[2026-08-26 00:37:21.669] [info] Controller state will be published at 20 Hz. ×2 + 8.33sINFOros2_control_node[2026-08-26 00:37:21.670] [info] JointVelocityController 'on_configure' succeeded. ×2 + 8.67sINFOros2-8process has finished cleanly [pid 8837] ×2 + 8.69sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787704642.03547120 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 8.69sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 8.69sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 9.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.637015 ms (missed cycles : 2). + 9.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.637015 ms (missed cycles : 2).[0m ×2 + 9.75sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787704643.09561563 seconds ×3 + 10.03sWARNros2_control_nodeCamera render tick took 1.94 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 + 10.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.705710 ms (missed cycles : 2). + 10.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.705710 ms (missed cycles : 2).[0m ×2 + 10.38sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787704643.73021770 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 10.44sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787704643.79042387 seconds ×3 + 11.10sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787704644.44447231 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 11.12sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787704644.46460342 seconds ×3 + 11.31sWARNros2_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 + 11.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.154964 ms (missed cycles : 4). + 11.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.154964 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | — | vector_subtrees_example.xml | 0.7s | 28 warnings · 307 info |
+ 0.00sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 0.00sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 0.00sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 0.00sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_wueeq6v7 --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_oh8pkndy --params-file /tmp/launch_params_u_iz44jq + 0.00sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_wueeq6v7 --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_oh8pkndy --params-file /tmp/launch_params_u_iz44jq [0m ×2 + 0.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.777980 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.777980 ms (missed cycles : 2).[0m ×2 + 0.02sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.02sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.03sINFOros2-5process has finished cleanly [pid 8834] ×2 + 0.05sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 0.05sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 0.06sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 0.06sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 0.06sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 0.06sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.06sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 0.06sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.06sINFOcontroller_managerSuccessfully switched controllers! ×16 + 0.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×32 + 0.07sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 0.07sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 0.21sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.32sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787704641.43127227 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.33sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787704641.44149327 seconds ×3 + 0.34sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 0.34sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.34sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 0.34sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.34sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.34sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.35sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.35sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.35sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 0.35sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 0.36sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 0.36sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 0.41sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.41sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.41sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.41sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.41sINFOros2-3process has finished cleanly [pid 8832] ×2 + 0.48sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_wueeq6v7 --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_oh8pkndy --params-file /tmp/launch_params_u_iz44jq + 0.48sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_wueeq6v7 --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_oh8pkndy --params-file /tmp/launch_params_u_iz44jq [0m ×2 + 0.53sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.53sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.53sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.53sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.54sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.56sINFOros2_control_node[2026-08-26 00:37:21.669] [info] Controller state will be published at 20 Hz. ×2 + 0.56sINFOros2_control_node[2026-08-26 00:37:21.670] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.91sINFOros2-8process has finished cleanly [pid 8837] ×2 + 0.93sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787704642.03547120 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.93sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.93sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.637015 ms (missed cycles : 2). + 1.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.637015 ms (missed cycles : 2).[0m ×2 + 1.99sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787704643.09561563 seconds ×3 + 2.27sWARNros2_control_nodeCamera render tick took 1.94 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 + 2.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.705710 ms (missed cycles : 2). + 2.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.705710 ms (missed cycles : 2).[0m ×2 + 2.62sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787704643.73021770 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.68sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787704643.79042387 seconds ×3 + 3.34sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787704644.44447231 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.36sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787704644.46460342 seconds ×3 + 3.55sWARNros2_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 + 3.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.154964 ms (missed cycles : 4). + 3.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.154964 ms (missed cycles : 4).[0m ×2 + 3.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787704645.06335068 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.10sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787704645.21389341 seconds ×3 + 4.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.505849 ms (missed cycles : 4). + 4.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.505849 ms (missed cycles : 4).[0m ×2 + 4.81sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787704645.92123270 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.84sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.84sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.85sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.85sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.85sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787704645.97136688 seconds ×3 + 5.47sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787704646.58259773 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.49sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 5.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.49sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.49sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.49sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.49sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.49sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.49sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.59sINFOobjective_server_nodeFound path in 0 iterations (2.4174e-05 s). ×2 + 5.59sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.61sINFOros2_control_node[2026-08-26 00:37:26.719] [info] Received new action goal ×2 + 5.61sINFOros2_control_node[2026-08-26 00:37:26.719] [info] Accepted new action goal ×2 + 5.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.198650 ms (missed cycles : 5). + 5.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.198650 ms (missed cycles : 5).[0m ×2 + 6.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.944090 ms (missed cycles : 3). + 6.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.944090 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | — | reset_planning_scene.xml | 0.7s | 25 warnings · 383 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 + 0.01sINFOros2-7process has finished cleanly [pid 8836] ×2 + 0.07sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_wueeq6v7 --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_oh8pkndy --params-file /tmp/launch_params_u_iz44jq + 0.07sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_wueeq6v7 --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_oh8pkndy --params-file /tmp/launch_params_u_iz44jq [0m ×2 + 0.12sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.12sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 0.12sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 0.12sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 0.12sINFOros2_control_node[2026-08-26 00:37:20.369] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.12sINFOros2_control_node[2026-08-26 00:37:20.369] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.13sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.15sINFOros2_control_node[2026-08-26 00:37:20.394] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.15sINFOros2_control_node[2026-08-26 00:37:20.394] [info] Controller state will be published at 50 Hz. ×2 + 0.16sINFOros2_control_node[2026-08-26 00:37:20.405] [info] Registered `FollowJointTrajectory` action server. ×2 + 0.44sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.45sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.45sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.46sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.46sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.46sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_wueeq6v7 --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_oh8pkndy --params-file /tmp/launch_params_u_iz44jq + 0.46sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_wueeq6v7 --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_oh8pkndy --params-file /tmp/launch_params_u_iz44jq [0m ×2 + 0.51sINFOros2-6process has finished cleanly [pid 8835] ×2 + 0.52sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.52sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.53sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.53sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.53sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.53sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.53sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.53sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.53sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.53sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.53sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.53sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.54sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.54sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.54sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.54sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.54sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.54sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.54sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.54sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 0.55sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.55sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.86sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 0.86sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 0.86sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 0.86sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 0.86sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_wueeq6v7 --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_oh8pkndy --params-file /tmp/launch_params_u_iz44jq + 0.87sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_wueeq6v7 --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_oh8pkndy --params-file /tmp/launch_params_u_iz44jq [0m ×2 + 0.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.777980 ms (missed cycles : 2). + 0.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.777980 ms (missed cycles : 2).[0m ×2 + 0.88sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.88sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.89sINFOros2-5process has finished cleanly [pid 8834] ×2 + 0.91sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 0.92sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 0.92sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 0.92sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 0.92sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 0.92sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.92sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 0.92sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.93sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 0.93sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 1.07sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 1.18sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787704641.43127227 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.19sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787704641.44149327 seconds ×3 + 1.20sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.20sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 1.20sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 1.20sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 1.20sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 1.21sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.21sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.22sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.22sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.27sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.27sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 1.27sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.27sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 1.28sINFOros2-3process has finished cleanly [pid 8832] ×2 + 1.34sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_wueeq6v7 --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_oh8pkndy --params-file /tmp/launch_params_u_iz44jq + 1.34sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_wueeq6v7 --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_oh8pkndy --params-file /tmp/launch_params_u_iz44jq [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 + 1.42sINFOros2_control_node[2026-08-26 00:37:21.669] [info] Controller state will be published at 20 Hz. ×2 + 1.42sINFOros2_control_node[2026-08-26 00:37:21.670] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.77sINFOros2-8process has finished cleanly [pid 8837] ×2 + 1.79sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787704642.03547120 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.79sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.79sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.637015 ms (missed cycles : 2). + 2.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.637015 ms (missed cycles : 2).[0m ×2 + 2.85sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787704643.09561563 seconds ×3 + 3.13sWARNros2_control_nodeCamera render tick took 1.94 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 + 3.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.705710 ms (missed cycles : 2). + 3.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.705710 ms (missed cycles : 2).[0m ×2 + 3.48sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787704643.73021770 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787704643.79042387 seconds ×3 + 4.20sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787704644.44447231 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.22sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787704644.46460342 seconds ×3 + 4.41sWARNros2_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 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.154964 ms (missed cycles : 4). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.154964 ms (missed cycles : 4).[0m ×2 + 4.82sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787704645.06335068 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787704645.21389341 seconds ×3 + 5.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.505849 ms (missed cycles : 4). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.505849 ms (missed cycles : 4).[0m ×2 + 5.67sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787704645.92123270 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.70sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 5.70sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 5.71sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.71sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.71sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787704645.97136688 seconds ×3 + 6.33sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787704646.58259773 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.35sINFOobjective_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 + 6.35sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.35sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.35sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.35sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.35sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.35sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.35sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.35sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.45sINFOobjective_server_nodeFound path in 0 iterations (2.4174e-05 s). ×2 + 6.46sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 6.47sINFOros2_control_node[2026-08-26 00:37:26.719] [info] Received new action goal ×2 + 6.47sINFOros2_control_node[2026-08-26 00:37:26.719] [info] Accepted new action goal ×2 + 6.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.198650 ms (missed cycles : 5). + 6.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.198650 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | — | convert_collisionobject_to_graspableobject.xml | 0.0s | 27 warnings · 377 info |
+ 0.00sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.00sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.00sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.05sINFOros2-4process has finished cleanly [pid 8833] ×2 + 0.13sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_wueeq6v7 --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_oh8pkndy --params-file /tmp/launch_params_u_iz44jq + 0.13sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_wueeq6v7 --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_oh8pkndy --params-file /tmp/launch_params_u_iz44jq [0m ×2 + 0.19sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.19sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.19sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.19sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.20sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 0.22sINFOros2_control_node[2026-08-26 00:37:19.878] [info] Controller state will be published at 10 Hz. ×2 + 0.22sINFOros2_control_node[2026-08-26 00:37:19.879] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.22sWARNobjective_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 + 0.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.200500 ms (missed cycles : 5). + 0.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.200500 ms (missed cycles : 5).[0m ×2 + 0.59sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 0.59sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 0.59sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 0.59sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 0.59sINFOros2-7process has finished cleanly [pid 8836] ×2 + 0.66sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_wueeq6v7 --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_oh8pkndy --params-file /tmp/launch_params_u_iz44jq + 0.66sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_wueeq6v7 --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_oh8pkndy --params-file /tmp/launch_params_u_iz44jq [0m ×2 + 0.71sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.71sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 0.71sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 0.71sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 0.71sINFOros2_control_node[2026-08-26 00:37:20.369] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.71sINFOros2_control_node[2026-08-26 00:37:20.369] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.74sINFOros2_control_node[2026-08-26 00:37:20.394] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.74sINFOros2_control_node[2026-08-26 00:37:20.394] [info] Controller state will be published at 50 Hz. ×2 + 0.75sINFOros2_control_node[2026-08-26 00:37:20.405] [info] Registered `FollowJointTrajectory` action server. ×2 + 1.03sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 1.04sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 1.04sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 1.04sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 1.04sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 1.05sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_wueeq6v7 --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_oh8pkndy --params-file /tmp/launch_params_u_iz44jq + 1.05sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_wueeq6v7 --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_oh8pkndy --params-file /tmp/launch_params_u_iz44jq [0m ×2 + 1.10sINFOros2-6process has finished cleanly [pid 8835] ×2 + 1.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 1.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 1.12sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 1.12sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 1.12sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 1.12sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 1.12sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 1.12sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 1.12sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 1.12sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 1.12sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 1.12sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 1.13sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 1.13sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 1.13sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 1.13sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 1.13sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 1.13sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 1.13sINFOcontroller_managerSuccessfully switched controllers! ×16 + 1.13sINFOros2_control_nodeSuccessfully switched controllers![0m ×32 + 1.14sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 1.14sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 1.45sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 1.45sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 1.45sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 1.45sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 1.45sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_wueeq6v7 --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_oh8pkndy --params-file /tmp/launch_params_u_iz44jq + 1.45sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_wueeq6v7 --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_oh8pkndy --params-file /tmp/launch_params_u_iz44jq [0m ×2 + 1.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.777980 ms (missed cycles : 2). + 1.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.777980 ms (missed cycles : 2).[0m ×2 + 1.47sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 1.47sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 1.48sINFOros2-5process has finished cleanly [pid 8834] ×2 + 1.50sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 1.50sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 1.50sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 1.51sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 1.51sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 1.51sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 1.51sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 1.51sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 1.52sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 1.52sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 1.66sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 1.77sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787704641.43127227 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.78sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787704641.44149327 seconds ×3 + 1.79sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.79sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 1.79sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.79sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 1.79sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 1.79sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 1.80sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.80sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.81sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.81sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.86sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.86sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 1.86sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.86sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 1.86sINFOros2-3process has finished cleanly [pid 8832] ×2 + 1.93sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_wueeq6v7 --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_oh8pkndy --params-file /tmp/launch_params_u_iz44jq + 1.93sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_wueeq6v7 --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_oh8pkndy --params-file /tmp/launch_params_u_iz44jq [0m ×2 + 1.98sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 1.98sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 1.98sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 1.98sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 2.01sINFOros2_control_node[2026-08-26 00:37:21.669] [info] Controller state will be published at 20 Hz. ×2 + 2.01sINFOros2_control_node[2026-08-26 00:37:21.670] [info] JointVelocityController 'on_configure' succeeded. ×2 + 2.36sINFOros2-8process has finished cleanly [pid 8837] ×2 + 2.38sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787704642.03547120 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.38sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.38sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.637015 ms (missed cycles : 2). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.637015 ms (missed cycles : 2).[0m ×2 + 3.44sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787704643.09561563 seconds ×3 + 3.72sWARNros2_control_nodeCamera render tick took 1.94 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 + 4.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.705710 ms (missed cycles : 2). + 4.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.705710 ms (missed cycles : 2).[0m ×2 + 4.07sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787704643.73021770 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.13sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787704643.79042387 seconds ×3 + 4.78sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787704644.44447231 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.81sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787704644.46460342 seconds ×3 + 5.00sWARNros2_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 + 5.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.154964 ms (missed cycles : 4). + 5.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.154964 ms (missed cycles : 4).[0m ×2 + 5.40sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787704645.06335068 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.55sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787704645.21389341 seconds ×3 + 6.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.505849 ms (missed cycles : 4). + 6.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.505849 ms (missed cycles : 4).[0m ×2 + 6.26sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787704645.92123270 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.29sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 6.29sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 6.30sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 6.30sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 6.30sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 6.31sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787704645.97136688 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/2026-08-26-00-37-12-572453-80992675f7bd-8782 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 1.86sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 1.87sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 1.87sINFOcontroller_managerupdate rate is 600 Hz + 1.87sINFOcontroller_managerOverruns handling is : enabled + 1.87sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 1.87sWARNcontroller_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. + 1.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.138621 ms (missed cycles : 2). + 2.10sINFOros2_control_node-1process started with pid [8830] ×2 + 2.10sINFOmove_group-9process started with pid [8867] ×2 + 2.10sINFOparameter_manager_node-10process started with pid [8868] ×2 + 2.10sINFOwaypoint_manager_node-11process started with pid [8869] ×2 + 2.10sINFOmove_joint_resampler_node-12process started with pid [8870] ×2 + 2.10sINFOmove_end_effector_resampler_node-13process started with pid [8871] ×2 + 2.10sINFOobjective_server_node_main-14process started with pid [8872] ×2 + 2.10sINFOcomponent_container_mt-15process started with pid [8873] ×2 + 2.10sINFOcomponent_container_mt-16process started with pid [8874] ×2 + 2.10sINFOexecute_objective_bridge-17process started with pid [8875] ×2 + 2.10sINFOui_teleop_bridge-18process started with pid [8876] ×2 + 2.10sINFOweb_bridge-19process started with pid [8877] ×2 + 2.10sINFOtf2_web_republisher_node-20process started with pid [8941] ×2 + 2.10sINFOvideo_server-21process started with pid [8942] ×2 + 2.10sINFOweb_bridge_auth_proxy-22process started with pid [8943] ×2 + 2.10sINFOweb_video_auth_proxy-23process started with pid [8944] ×2 + 2.12sINFOros2-2process started with pid [8831] ×2 + 2.12sINFOros2-3process started with pid [8832] ×2 + 2.12sINFOros2-4process started with pid [8833] ×2 + 2.12sINFOros2-5process started with pid [8834] ×2 + 2.12sINFOros2-6process started with pid [8835] ×2 + 2.12sINFOros2-7process started with pid [8836] ×2 + 2.12sINFOros2-8process started with pid [8837] ×2 + 2.15sINFOcontroller_managerReceived robot description from topic. + 2.15sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 2.17sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 2.17sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 2.17sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 2.17sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 2.17sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 2.17sWARNros2_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 + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.138621 ms (missed cycles : 2).[0m ×2 + 2.17sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 2.17sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 2.17sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 2.17sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 2.19sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 2.23sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 2.43sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 2.57sINFOvideo_server2026/08/26 00:37:15 INF MediaMTX v1.19.3, linux, amd64 ×2 + 2.57sINFOvideo_server2026/08/26 00:37:15 INF configuration loaded from /tmp/moveit-webrtc-ymv_bypl/mediamtx.yml ×2 + 2.57sINFOvideo_server2026/08/26 00:37:15 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 + 2.58sINFOvideo_server2026/08/26 00:37:15 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 | ||||
| − skipped | — | createvector.xml | 0.0s | 27 warnings · 377 info |
+ 0.00sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.00sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.00sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.05sINFOros2-4process has finished cleanly [pid 8833] ×2 + 0.13sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_wueeq6v7 --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_oh8pkndy --params-file /tmp/launch_params_u_iz44jq + 0.13sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_wueeq6v7 --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_oh8pkndy --params-file /tmp/launch_params_u_iz44jq [0m ×2 + 0.19sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.19sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.19sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.19sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.20sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 0.22sINFOros2_control_node[2026-08-26 00:37:19.878] [info] Controller state will be published at 10 Hz. ×2 + 0.22sINFOros2_control_node[2026-08-26 00:37:19.879] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.22sWARNobjective_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 + 0.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.200500 ms (missed cycles : 5). + 0.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.200500 ms (missed cycles : 5).[0m ×2 + 0.59sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 0.59sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 0.59sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 0.59sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 0.59sINFOros2-7process has finished cleanly [pid 8836] ×2 + 0.66sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_wueeq6v7 --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_oh8pkndy --params-file /tmp/launch_params_u_iz44jq + 0.66sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_wueeq6v7 --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_oh8pkndy --params-file /tmp/launch_params_u_iz44jq [0m ×2 + 0.71sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.71sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 0.71sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 0.71sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 0.71sINFOros2_control_node[2026-08-26 00:37:20.369] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.71sINFOros2_control_node[2026-08-26 00:37:20.369] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.74sINFOros2_control_node[2026-08-26 00:37:20.394] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.74sINFOros2_control_node[2026-08-26 00:37:20.394] [info] Controller state will be published at 50 Hz. ×2 + 0.75sINFOros2_control_node[2026-08-26 00:37:20.405] [info] Registered `FollowJointTrajectory` action server. ×2 + 1.03sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 1.04sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 1.04sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 1.04sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 1.04sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 1.05sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_wueeq6v7 --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_oh8pkndy --params-file /tmp/launch_params_u_iz44jq + 1.05sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_wueeq6v7 --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_oh8pkndy --params-file /tmp/launch_params_u_iz44jq [0m ×2 + 1.10sINFOros2-6process has finished cleanly [pid 8835] ×2 + 1.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 1.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 1.12sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 1.12sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 1.12sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 1.12sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 1.12sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 1.12sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 1.12sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 1.12sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 1.12sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 1.12sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 1.13sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 1.13sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 1.13sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 1.13sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 1.13sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 1.13sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 1.13sINFOcontroller_managerSuccessfully switched controllers! ×16 + 1.13sINFOros2_control_nodeSuccessfully switched controllers![0m ×32 + 1.14sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 1.14sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 1.45sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 1.45sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 1.45sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 1.45sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 1.45sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_wueeq6v7 --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_oh8pkndy --params-file /tmp/launch_params_u_iz44jq + 1.45sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_wueeq6v7 --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_oh8pkndy --params-file /tmp/launch_params_u_iz44jq [0m ×2 + 1.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.777980 ms (missed cycles : 2). + 1.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.777980 ms (missed cycles : 2).[0m ×2 + 1.47sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 1.47sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 1.48sINFOros2-5process has finished cleanly [pid 8834] ×2 + 1.50sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 1.50sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 1.50sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 1.51sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 1.51sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 1.51sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 1.51sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 1.51sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 1.52sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 1.52sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 1.66sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 1.77sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787704641.43127227 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.78sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787704641.44149327 seconds ×3 + 1.79sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.79sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 1.79sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.79sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 1.79sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 1.79sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 1.80sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.80sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.81sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.81sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.86sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.86sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 1.86sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.86sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 1.86sINFOros2-3process has finished cleanly [pid 8832] ×2 + 1.93sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_wueeq6v7 --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_oh8pkndy --params-file /tmp/launch_params_u_iz44jq + 1.93sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_wueeq6v7 --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_oh8pkndy --params-file /tmp/launch_params_u_iz44jq [0m ×2 + 1.98sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 1.98sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 1.98sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 1.98sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 2.01sINFOros2_control_node[2026-08-26 00:37:21.669] [info] Controller state will be published at 20 Hz. ×2 + 2.01sINFOros2_control_node[2026-08-26 00:37:21.670] [info] JointVelocityController 'on_configure' succeeded. ×2 + 2.36sINFOros2-8process has finished cleanly [pid 8837] ×2 + 2.38sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787704642.03547120 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.38sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.38sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.637015 ms (missed cycles : 2). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.637015 ms (missed cycles : 2).[0m ×2 + 3.44sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787704643.09561563 seconds ×3 + 3.72sWARNros2_control_nodeCamera render tick took 1.94 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 + 4.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.705710 ms (missed cycles : 2). + 4.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.705710 ms (missed cycles : 2).[0m ×2 + 4.07sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787704643.73021770 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.13sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787704643.79042387 seconds ×3 + 4.78sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787704644.44447231 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.81sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787704644.46460342 seconds ×3 + 5.00sWARNros2_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 + 5.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.154964 ms (missed cycles : 4). + 5.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.154964 ms (missed cycles : 4).[0m ×2 + 5.40sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787704645.06335068 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.55sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787704645.21389341 seconds ×3 + 6.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.505849 ms (missed cycles : 4). + 6.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.505849 ms (missed cycles : 4).[0m ×2 + 6.26sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787704645.92123270 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.29sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 6.29sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 6.30sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 6.30sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 6.30sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 6.31sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787704645.97136688 seconds ×3 | ||||
| − skipped | — | wait_for_joint_trajectory_approval.xml | 0.0s | 22 warnings · 231 info |
+ 0.00sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.00sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.00sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.00sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.01sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.03sINFOros2_control_node[2026-08-26 00:37:21.669] [info] Controller state will be published at 20 Hz. ×2 + 0.03sINFOros2_control_node[2026-08-26 00:37:21.670] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.38sINFOros2-8process has finished cleanly [pid 8837] ×2 + 0.40sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787704642.03547120 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.40sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.40sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.637015 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.637015 ms (missed cycles : 2).[0m ×2 + 1.46sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787704643.09561563 seconds ×3 + 1.49sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.50sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.50sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.50sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.50sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.50sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.50sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.50sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.50sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.50sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.51sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.51sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.74sWARNros2_control_nodeCamera render tick took 1.94 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 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.705710 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.705710 ms (missed cycles : 2).[0m ×2 + 2.09sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787704643.73021770 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.15sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787704643.79042387 seconds ×3 + 2.81sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787704644.44447231 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787704644.46460342 seconds ×3 + 3.02sWARNros2_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 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.154964 ms (missed cycles : 4). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.154964 ms (missed cycles : 4).[0m ×2 + 3.42sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787704645.06335068 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787704645.21389341 seconds ×3 + 4.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.505849 ms (missed cycles : 4). + 4.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.505849 ms (missed cycles : 4).[0m ×2 + 4.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787704645.92123270 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.31sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.31sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.32sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.32sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.32sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.33sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787704645.97136688 seconds ×3 + 4.94sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787704646.58259773 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.96sINFOobjective_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 + 4.96sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.96sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.96sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.96sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.96sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.96sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.96sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.96sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.06sINFOobjective_server_nodeFound path in 0 iterations (2.4174e-05 s). ×2 + 5.06sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.08sINFOros2_control_node[2026-08-26 00:37:26.719] [info] Received new action goal ×2 + 5.08sINFOros2_control_node[2026-08-26 00:37:26.719] [info] Accepted new action goal ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.198650 ms (missed cycles : 5). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.198650 ms (missed cycles : 5).[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.944090 ms (missed cycles : 3). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.944090 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | wait_for_trajectory_approval_if_user_available.xml | 0.0s | 22 warnings · 231 info |
+ 0.00sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.00sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.00sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.00sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.01sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.03sINFOros2_control_node[2026-08-26 00:37:21.669] [info] Controller state will be published at 20 Hz. ×2 + 0.03sINFOros2_control_node[2026-08-26 00:37:21.670] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.38sINFOros2-8process has finished cleanly [pid 8837] ×2 + 0.40sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787704642.03547120 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.40sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.40sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.637015 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.637015 ms (missed cycles : 2).[0m ×2 + 1.46sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787704643.09561563 seconds ×3 + 1.49sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.50sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.50sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.50sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.50sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.50sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.50sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.50sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.50sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.50sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.51sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.51sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.74sWARNros2_control_nodeCamera render tick took 1.94 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 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.705710 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.705710 ms (missed cycles : 2).[0m ×2 + 2.09sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787704643.73021770 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.15sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787704643.79042387 seconds ×3 + 2.81sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787704644.44447231 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787704644.46460342 seconds ×3 + 3.02sWARNros2_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 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.154964 ms (missed cycles : 4). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.154964 ms (missed cycles : 4).[0m ×2 + 3.42sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787704645.06335068 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787704645.21389341 seconds ×3 + 4.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.505849 ms (missed cycles : 4). + 4.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.505849 ms (missed cycles : 4).[0m ×2 + 4.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787704645.92123270 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.31sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.31sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.32sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.32sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.32sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.33sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787704645.97136688 seconds ×3 + 4.94sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787704646.58259773 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.96sINFOobjective_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 + 4.96sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.96sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.96sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.96sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.96sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.96sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.96sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.96sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.06sINFOobjective_server_nodeFound path in 0 iterations (2.4174e-05 s). ×2 + 5.06sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.08sINFOros2_control_node[2026-08-26 00:37:26.719] [info] Received new action goal ×2 + 5.08sINFOros2_control_node[2026-08-26 00:37:26.719] [info] Accepted new action goal ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.198650 ms (missed cycles : 5). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.198650 ms (missed cycles : 5).[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.944090 ms (missed cycles : 3). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.944090 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | find_nearest_pose_in_path.xml | 0.0s | 27 warnings · 377 info |
+ 0.00sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.00sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.00sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.05sINFOros2-4process has finished cleanly [pid 8833] ×2 + 0.13sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_wueeq6v7 --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_oh8pkndy --params-file /tmp/launch_params_u_iz44jq + 0.13sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_wueeq6v7 --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_oh8pkndy --params-file /tmp/launch_params_u_iz44jq [0m ×2 + 0.19sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.19sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.19sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.19sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.20sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 0.22sINFOros2_control_node[2026-08-26 00:37:19.878] [info] Controller state will be published at 10 Hz. ×2 + 0.22sINFOros2_control_node[2026-08-26 00:37:19.879] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.22sWARNobjective_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 + 0.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.200500 ms (missed cycles : 5). + 0.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.200500 ms (missed cycles : 5).[0m ×2 + 0.59sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 0.59sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 0.59sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 0.59sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 0.59sINFOros2-7process has finished cleanly [pid 8836] ×2 + 0.66sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_wueeq6v7 --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_oh8pkndy --params-file /tmp/launch_params_u_iz44jq + 0.66sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_wueeq6v7 --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_oh8pkndy --params-file /tmp/launch_params_u_iz44jq [0m ×2 + 0.71sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.71sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 0.71sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 0.71sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 0.71sINFOros2_control_node[2026-08-26 00:37:20.369] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.71sINFOros2_control_node[2026-08-26 00:37:20.369] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.74sINFOros2_control_node[2026-08-26 00:37:20.394] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.74sINFOros2_control_node[2026-08-26 00:37:20.394] [info] Controller state will be published at 50 Hz. ×2 + 0.75sINFOros2_control_node[2026-08-26 00:37:20.405] [info] Registered `FollowJointTrajectory` action server. ×2 + 1.03sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 1.04sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 1.04sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 1.04sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 1.04sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 1.05sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_wueeq6v7 --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_oh8pkndy --params-file /tmp/launch_params_u_iz44jq + 1.05sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_wueeq6v7 --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_oh8pkndy --params-file /tmp/launch_params_u_iz44jq [0m ×2 + 1.10sINFOros2-6process has finished cleanly [pid 8835] ×2 + 1.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 1.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 1.12sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 1.12sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 1.12sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 1.12sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 1.12sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 1.12sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 1.12sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 1.12sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 1.12sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 1.12sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 1.13sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 1.13sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 1.13sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 1.13sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 1.13sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 1.13sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 1.13sINFOcontroller_managerSuccessfully switched controllers! ×16 + 1.13sINFOros2_control_nodeSuccessfully switched controllers![0m ×32 + 1.14sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 1.14sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 1.45sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 1.45sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 1.45sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 1.45sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 1.45sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_wueeq6v7 --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_oh8pkndy --params-file /tmp/launch_params_u_iz44jq + 1.45sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_wueeq6v7 --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_oh8pkndy --params-file /tmp/launch_params_u_iz44jq [0m ×2 + 1.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.777980 ms (missed cycles : 2). + 1.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.777980 ms (missed cycles : 2).[0m ×2 + 1.47sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 1.47sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 1.48sINFOros2-5process has finished cleanly [pid 8834] ×2 + 1.50sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 1.50sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 1.50sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 1.51sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 1.51sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 1.51sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 1.51sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 1.51sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 1.52sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 1.52sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 1.66sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 1.77sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787704641.43127227 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.78sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787704641.44149327 seconds ×3 + 1.79sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.79sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 1.79sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.79sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 1.79sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 1.79sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 1.80sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.80sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.81sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.81sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.86sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.86sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 1.86sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.86sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 1.86sINFOros2-3process has finished cleanly [pid 8832] ×2 + 1.93sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_wueeq6v7 --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_oh8pkndy --params-file /tmp/launch_params_u_iz44jq + 1.93sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_wueeq6v7 --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_oh8pkndy --params-file /tmp/launch_params_u_iz44jq [0m ×2 + 1.98sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 1.98sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 1.98sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 1.98sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 2.01sINFOros2_control_node[2026-08-26 00:37:21.669] [info] Controller state will be published at 20 Hz. ×2 + 2.01sINFOros2_control_node[2026-08-26 00:37:21.670] [info] JointVelocityController 'on_configure' succeeded. ×2 + 2.36sINFOros2-8process has finished cleanly [pid 8837] ×2 + 2.38sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787704642.03547120 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.38sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.38sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.637015 ms (missed cycles : 2). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.637015 ms (missed cycles : 2).[0m ×2 + 3.44sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787704643.09561563 seconds ×3 + 3.72sWARNros2_control_nodeCamera render tick took 1.94 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 + 4.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.705710 ms (missed cycles : 2). + 4.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.705710 ms (missed cycles : 2).[0m ×2 + 4.07sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787704643.73021770 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.13sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787704643.79042387 seconds ×3 + 4.78sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787704644.44447231 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.81sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787704644.46460342 seconds ×3 + 5.00sWARNros2_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 + 5.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.154964 ms (missed cycles : 4). + 5.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.154964 ms (missed cycles : 4).[0m ×2 + 5.40sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787704645.06335068 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.55sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787704645.21389341 seconds ×3 + 6.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.505849 ms (missed cycles : 4). + 6.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.505849 ms (missed cycles : 4).[0m ×2 + 6.26sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787704645.92123270 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.29sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 6.29sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 6.30sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 6.30sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 6.30sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 6.31sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787704645.97136688 seconds ×3 | ||||
| − skipped | — | request_teleoperation.xml | 0.0s | 25 warnings · 383 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 + 0.01sINFOros2-7process has finished cleanly [pid 8836] ×2 + 0.07sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_wueeq6v7 --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_oh8pkndy --params-file /tmp/launch_params_u_iz44jq + 0.07sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_wueeq6v7 --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_oh8pkndy --params-file /tmp/launch_params_u_iz44jq [0m ×2 + 0.12sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.12sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 0.12sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 0.12sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 0.12sINFOros2_control_node[2026-08-26 00:37:20.369] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.12sINFOros2_control_node[2026-08-26 00:37:20.369] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.13sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.15sINFOros2_control_node[2026-08-26 00:37:20.394] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.15sINFOros2_control_node[2026-08-26 00:37:20.394] [info] Controller state will be published at 50 Hz. ×2 + 0.16sINFOros2_control_node[2026-08-26 00:37:20.405] [info] Registered `FollowJointTrajectory` action server. ×2 + 0.44sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.45sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.45sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.46sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.46sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.46sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_wueeq6v7 --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_oh8pkndy --params-file /tmp/launch_params_u_iz44jq + 0.46sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_wueeq6v7 --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_oh8pkndy --params-file /tmp/launch_params_u_iz44jq [0m ×2 + 0.51sINFOros2-6process has finished cleanly [pid 8835] ×2 + 0.52sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.52sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.53sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.53sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.53sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.53sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.53sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.53sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.53sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.53sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.53sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.53sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.54sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.54sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.54sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.54sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.54sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.54sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.54sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.54sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 0.55sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.55sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.86sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 0.86sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 0.86sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 0.86sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 0.86sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_wueeq6v7 --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_oh8pkndy --params-file /tmp/launch_params_u_iz44jq + 0.87sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_wueeq6v7 --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_oh8pkndy --params-file /tmp/launch_params_u_iz44jq [0m ×2 + 0.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.777980 ms (missed cycles : 2). + 0.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.777980 ms (missed cycles : 2).[0m ×2 + 0.88sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.88sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.89sINFOros2-5process has finished cleanly [pid 8834] ×2 + 0.91sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 0.92sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 0.92sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 0.92sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 0.92sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 0.92sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.92sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 0.92sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.93sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 0.93sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 1.07sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 1.18sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787704641.43127227 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.19sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787704641.44149327 seconds ×3 + 1.20sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.20sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 1.20sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 1.20sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 1.20sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 1.21sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.21sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.22sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.22sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.27sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.27sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 1.27sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.27sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 1.28sINFOros2-3process has finished cleanly [pid 8832] ×2 + 1.34sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_wueeq6v7 --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_oh8pkndy --params-file /tmp/launch_params_u_iz44jq + 1.34sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_wueeq6v7 --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_oh8pkndy --params-file /tmp/launch_params_u_iz44jq [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 + 1.42sINFOros2_control_node[2026-08-26 00:37:21.669] [info] Controller state will be published at 20 Hz. ×2 + 1.42sINFOros2_control_node[2026-08-26 00:37:21.670] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.77sINFOros2-8process has finished cleanly [pid 8837] ×2 + 1.79sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787704642.03547120 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.79sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.79sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.637015 ms (missed cycles : 2). + 2.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.637015 ms (missed cycles : 2).[0m ×2 + 2.85sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787704643.09561563 seconds ×3 + 3.13sWARNros2_control_nodeCamera render tick took 1.94 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 + 3.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.705710 ms (missed cycles : 2). + 3.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.705710 ms (missed cycles : 2).[0m ×2 + 3.48sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787704643.73021770 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787704643.79042387 seconds ×3 + 4.20sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787704644.44447231 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.22sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787704644.46460342 seconds ×3 + 4.41sWARNros2_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 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.154964 ms (missed cycles : 4). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.154964 ms (missed cycles : 4).[0m ×2 + 4.82sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787704645.06335068 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787704645.21389341 seconds ×3 + 5.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.505849 ms (missed cycles : 4). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.505849 ms (missed cycles : 4).[0m ×2 + 5.67sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787704645.92123270 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.70sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 5.70sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 5.71sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.71sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.71sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787704645.97136688 seconds ×3 + 6.33sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787704646.58259773 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.35sINFOobjective_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 + 6.35sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.35sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.35sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.35sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.35sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.35sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.35sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.35sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.45sINFOobjective_server_nodeFound path in 0 iterations (2.4174e-05 s). ×2 + 6.46sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 6.47sINFOros2_control_node[2026-08-26 00:37:26.719] [info] Received new action goal ×2 + 6.47sINFOros2_control_node[2026-08-26 00:37:26.719] [info] Accepted new action goal ×2 + 6.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.198650 ms (missed cycles : 5). + 6.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.198650 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | — | teleoperate.xml | 0.0s | 25 warnings · 307 info |
+ 0.00sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 0.00sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 0.00sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 0.00sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_wueeq6v7 --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_oh8pkndy --params-file /tmp/launch_params_u_iz44jq + 0.00sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_wueeq6v7 --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_oh8pkndy --params-file /tmp/launch_params_u_iz44jq [0m ×2 + 0.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.777980 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.777980 ms (missed cycles : 2).[0m ×2 + 0.02sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.02sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.03sINFOros2-5process has finished cleanly [pid 8834] ×2 + 0.05sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 0.05sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 0.06sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 0.06sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 0.06sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 0.06sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.06sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 0.06sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.06sINFOcontroller_managerSuccessfully switched controllers! ×16 + 0.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×32 + 0.07sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 0.07sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 0.21sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.32sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787704641.43127227 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.33sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787704641.44149327 seconds ×3 + 0.34sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 0.34sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.34sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 0.34sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.34sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.34sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.35sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.35sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.35sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 0.35sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 0.36sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 0.36sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 0.41sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.41sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.41sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.41sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.41sINFOros2-3process has finished cleanly [pid 8832] ×2 + 0.48sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_wueeq6v7 --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_oh8pkndy --params-file /tmp/launch_params_u_iz44jq + 0.48sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_wueeq6v7 --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_oh8pkndy --params-file /tmp/launch_params_u_iz44jq [0m ×2 + 0.53sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.53sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.53sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.53sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.54sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.56sINFOros2_control_node[2026-08-26 00:37:21.669] [info] Controller state will be published at 20 Hz. ×2 + 0.56sINFOros2_control_node[2026-08-26 00:37:21.670] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.91sINFOros2-8process has finished cleanly [pid 8837] ×2 + 0.93sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787704642.03547120 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.93sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.93sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.637015 ms (missed cycles : 2). + 1.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.637015 ms (missed cycles : 2).[0m ×2 + 1.99sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787704643.09561563 seconds ×3 + 2.27sWARNros2_control_nodeCamera render tick took 1.94 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 + 2.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.705710 ms (missed cycles : 2). + 2.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.705710 ms (missed cycles : 2).[0m ×2 + 2.62sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787704643.73021770 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.68sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787704643.79042387 seconds ×3 + 3.34sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787704644.44447231 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.36sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787704644.46460342 seconds ×3 + 3.55sWARNros2_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 + 3.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.154964 ms (missed cycles : 4). + 3.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.154964 ms (missed cycles : 4).[0m ×2 + 3.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787704645.06335068 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.10sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787704645.21389341 seconds ×3 + 4.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.505849 ms (missed cycles : 4). + 4.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.505849 ms (missed cycles : 4).[0m ×2 + 4.81sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787704645.92123270 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.84sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.84sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.85sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.85sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.85sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787704645.97136688 seconds ×3 + 5.47sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787704646.58259773 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.49sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 5.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.49sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.49sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.49sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.49sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.49sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.49sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.59sINFOobjective_server_nodeFound path in 0 iterations (2.4174e-05 s). ×2 + 5.59sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.61sINFOros2_control_node[2026-08-26 00:37:26.719] [info] Received new action goal ×2 + 5.61sINFOros2_control_node[2026-08-26 00:37:26.719] [info] Accepted new action goal ×2 + 5.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.198650 ms (missed cycles : 5). + 5.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.198650 ms (missed cycles : 5).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/motion10 skip
| − skipped | — | execute_mtc_solution.xml | 0.0s | 22 warnings · 231 info |
+ 0.00sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.00sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.00sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.00sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.01sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.03sINFOros2_control_node[2026-08-26 00:37:21.669] [info] Controller state will be published at 20 Hz. ×2 + 0.03sINFOros2_control_node[2026-08-26 00:37:21.670] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.38sINFOros2-8process has finished cleanly [pid 8837] ×2 + 0.40sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787704642.03547120 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.40sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.40sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.637015 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.637015 ms (missed cycles : 2).[0m ×2 + 1.46sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787704643.09561563 seconds ×3 + 1.49sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.50sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.50sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.50sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.50sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.50sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.50sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.50sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.50sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.50sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.51sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.51sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.74sWARNros2_control_nodeCamera render tick took 1.94 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 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.705710 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.705710 ms (missed cycles : 2).[0m ×2 + 2.09sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787704643.73021770 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.15sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787704643.79042387 seconds ×3 + 2.81sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787704644.44447231 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787704644.46460342 seconds ×3 + 3.02sWARNros2_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 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.154964 ms (missed cycles : 4). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.154964 ms (missed cycles : 4).[0m ×2 + 3.42sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787704645.06335068 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787704645.21389341 seconds ×3 + 4.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.505849 ms (missed cycles : 4). + 4.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.505849 ms (missed cycles : 4).[0m ×2 + 4.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787704645.92123270 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.31sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.31sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.32sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.32sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.32sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.33sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787704645.97136688 seconds ×3 + 4.94sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787704646.58259773 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.96sINFOobjective_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 + 4.96sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.96sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.96sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.96sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.96sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.96sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.96sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.96sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.06sINFOobjective_server_nodeFound path in 0 iterations (2.4174e-05 s). ×2 + 5.06sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.08sINFOros2_control_node[2026-08-26 00:37:26.719] [info] Received new action goal ×2 + 5.08sINFOros2_control_node[2026-08-26 00:37:26.719] [info] Accepted new action goal ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.198650 ms (missed cycles : 5). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.198650 ms (missed cycles : 5).[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.944090 ms (missed cycles : 3). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.944090 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | execute_mtc_solution_jtc.xml | 0.0s | 22 warnings · 231 info |
+ 0.00sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.00sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.00sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.00sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.01sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.03sINFOros2_control_node[2026-08-26 00:37:21.669] [info] Controller state will be published at 20 Hz. ×2 + 0.03sINFOros2_control_node[2026-08-26 00:37:21.670] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.38sINFOros2-8process has finished cleanly [pid 8837] ×2 + 0.40sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787704642.03547120 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.40sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.40sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.637015 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.637015 ms (missed cycles : 2).[0m ×2 + 1.46sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787704643.09561563 seconds ×3 + 1.49sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.50sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.50sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.50sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.50sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.50sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.50sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.50sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.50sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.50sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.51sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.51sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.74sWARNros2_control_nodeCamera render tick took 1.94 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 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.705710 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.705710 ms (missed cycles : 2).[0m ×2 + 2.09sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787704643.73021770 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.15sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787704643.79042387 seconds ×3 + 2.81sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787704644.44447231 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787704644.46460342 seconds ×3 + 3.02sWARNros2_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 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.154964 ms (missed cycles : 4). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.154964 ms (missed cycles : 4).[0m ×2 + 3.42sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787704645.06335068 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787704645.21389341 seconds ×3 + 4.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.505849 ms (missed cycles : 4). + 4.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.505849 ms (missed cycles : 4).[0m ×2 + 4.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787704645.92123270 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.31sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.31sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.32sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.32sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.32sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.33sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787704645.97136688 seconds ×3 + 4.94sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787704646.58259773 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.96sINFOobjective_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 + 4.96sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.96sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.96sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.96sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.96sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.96sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.96sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.96sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.06sINFOobjective_server_nodeFound path in 0 iterations (2.4174e-05 s). ×2 + 5.06sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.08sINFOros2_control_node[2026-08-26 00:37:26.719] [info] Received new action goal ×2 + 5.08sINFOros2_control_node[2026-08-26 00:37:26.719] [info] Accepted new action goal ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.198650 ms (missed cycles : 5). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.198650 ms (missed cycles : 5).[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.944090 ms (missed cycles : 3). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.944090 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | move_to_waypoint.xml | 0.0s | 22 warnings · 231 info |
+ 0.00sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.00sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.00sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.00sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.01sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.03sINFOros2_control_node[2026-08-26 00:37:21.669] [info] Controller state will be published at 20 Hz. ×2 + 0.03sINFOros2_control_node[2026-08-26 00:37:21.670] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.38sINFOros2-8process has finished cleanly [pid 8837] ×2 + 0.40sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787704642.03547120 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.40sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.40sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.637015 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.637015 ms (missed cycles : 2).[0m ×2 + 1.46sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787704643.09561563 seconds ×3 + 1.49sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.50sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.50sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.50sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.50sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.50sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.50sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.50sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.50sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.50sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.51sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.51sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.74sWARNros2_control_nodeCamera render tick took 1.94 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 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.705710 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.705710 ms (missed cycles : 2).[0m ×2 + 2.09sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787704643.73021770 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.15sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787704643.79042387 seconds ×3 + 2.81sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787704644.44447231 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787704644.46460342 seconds ×3 + 3.02sWARNros2_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 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.154964 ms (missed cycles : 4). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.154964 ms (missed cycles : 4).[0m ×2 + 3.42sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787704645.06335068 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787704645.21389341 seconds ×3 + 4.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.505849 ms (missed cycles : 4). + 4.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.505849 ms (missed cycles : 4).[0m ×2 + 4.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787704645.92123270 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.31sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.31sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.32sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.32sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.32sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.33sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787704645.97136688 seconds ×3 + 4.94sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787704646.58259773 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.96sINFOobjective_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 + 4.96sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.96sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.96sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.96sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.96sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.96sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.96sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.96sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.06sINFOobjective_server_nodeFound path in 0 iterations (2.4174e-05 s). ×2 + 5.06sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.08sINFOros2_control_node[2026-08-26 00:37:26.719] [info] Received new action goal ×2 + 5.08sINFOros2_control_node[2026-08-26 00:37:26.719] [info] Accepted new action goal ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.198650 ms (missed cycles : 5). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.198650 ms (missed cycles : 5).[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.944090 ms (missed cycles : 3). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.944090 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | interpolate_to_joint_state.xml | 0.0s | 22 warnings · 231 info |
+ 0.00sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.00sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.00sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.00sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.01sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.03sINFOros2_control_node[2026-08-26 00:37:21.669] [info] Controller state will be published at 20 Hz. ×2 + 0.03sINFOros2_control_node[2026-08-26 00:37:21.670] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.38sINFOros2-8process has finished cleanly [pid 8837] ×2 + 0.40sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787704642.03547120 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.40sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.40sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.637015 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.637015 ms (missed cycles : 2).[0m ×2 + 1.46sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787704643.09561563 seconds ×3 + 1.49sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.50sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.50sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.50sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.50sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.50sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.50sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.50sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.50sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.50sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.51sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.51sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.74sWARNros2_control_nodeCamera render tick took 1.94 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 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.705710 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.705710 ms (missed cycles : 2).[0m ×2 + 2.09sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787704643.73021770 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.15sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787704643.79042387 seconds ×3 + 2.81sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787704644.44447231 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787704644.46460342 seconds ×3 + 3.02sWARNros2_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 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.154964 ms (missed cycles : 4). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.154964 ms (missed cycles : 4).[0m ×2 + 3.42sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787704645.06335068 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787704645.21389341 seconds ×3 + 4.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.505849 ms (missed cycles : 4). + 4.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.505849 ms (missed cycles : 4).[0m ×2 + 4.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787704645.92123270 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.31sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.31sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.32sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.32sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.32sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.33sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787704645.97136688 seconds ×3 + 4.94sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787704646.58259773 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.96sINFOobjective_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 + 4.96sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.96sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.96sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.96sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.96sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.96sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.96sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.96sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.06sINFOobjective_server_nodeFound path in 0 iterations (2.4174e-05 s). ×2 + 5.06sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.08sINFOros2_control_node[2026-08-26 00:37:26.719] [info] Received new action goal ×2 + 5.08sINFOros2_control_node[2026-08-26 00:37:26.719] [info] Accepted new action goal ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.198650 ms (missed cycles : 5). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.198650 ms (missed cycles : 5).[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.944090 ms (missed cycles : 3). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.944090 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | move_to_joint_state.xml | 0.0s | 22 warnings · 231 info |
+ 0.00sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.00sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.00sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.00sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.01sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.03sINFOros2_control_node[2026-08-26 00:37:21.669] [info] Controller state will be published at 20 Hz. ×2 + 0.03sINFOros2_control_node[2026-08-26 00:37:21.670] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.38sINFOros2-8process has finished cleanly [pid 8837] ×2 + 0.40sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787704642.03547120 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.40sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.40sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.637015 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.637015 ms (missed cycles : 2).[0m ×2 + 1.46sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787704643.09561563 seconds ×3 + 1.49sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.50sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.50sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.50sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.50sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.50sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.50sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.50sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.50sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.50sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.51sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.51sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.74sWARNros2_control_nodeCamera render tick took 1.94 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 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.705710 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.705710 ms (missed cycles : 2).[0m ×2 + 2.09sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787704643.73021770 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.15sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787704643.79042387 seconds ×3 + 2.81sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787704644.44447231 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787704644.46460342 seconds ×3 + 3.02sWARNros2_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 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.154964 ms (missed cycles : 4). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.154964 ms (missed cycles : 4).[0m ×2 + 3.42sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787704645.06335068 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787704645.21389341 seconds ×3 + 4.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.505849 ms (missed cycles : 4). + 4.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.505849 ms (missed cycles : 4).[0m ×2 + 4.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787704645.92123270 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.31sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.31sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.32sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.32sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.32sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.33sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787704645.97136688 seconds ×3 + 4.94sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787704646.58259773 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.96sINFOobjective_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 + 4.96sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.96sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.96sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.96sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.96sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.96sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.96sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.96sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.06sINFOobjective_server_nodeFound path in 0 iterations (2.4174e-05 s). ×2 + 5.06sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.08sINFOros2_control_node[2026-08-26 00:37:26.719] [info] Received new action goal ×2 + 5.08sINFOros2_control_node[2026-08-26 00:37:26.719] [info] Accepted new action goal ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.198650 ms (missed cycles : 5). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.198650 ms (missed cycles : 5).[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.944090 ms (missed cycles : 3). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.944090 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | move_to_pose.xml | 0.0s | 22 warnings · 231 info |
+ 0.00sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.00sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.00sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.00sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.01sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.03sINFOros2_control_node[2026-08-26 00:37:21.669] [info] Controller state will be published at 20 Hz. ×2 + 0.03sINFOros2_control_node[2026-08-26 00:37:21.670] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.38sINFOros2-8process has finished cleanly [pid 8837] ×2 + 0.40sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787704642.03547120 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.40sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.40sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.637015 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.637015 ms (missed cycles : 2).[0m ×2 + 1.46sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787704643.09561563 seconds ×3 + 1.49sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.50sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.50sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.50sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.50sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.50sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.50sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.50sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.50sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.50sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.51sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.51sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.74sWARNros2_control_nodeCamera render tick took 1.94 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 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.705710 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.705710 ms (missed cycles : 2).[0m ×2 + 2.09sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787704643.73021770 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.15sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787704643.79042387 seconds ×3 + 2.81sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787704644.44447231 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787704644.46460342 seconds ×3 + 3.02sWARNros2_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 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.154964 ms (missed cycles : 4). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.154964 ms (missed cycles : 4).[0m ×2 + 3.42sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787704645.06335068 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787704645.21389341 seconds ×3 + 4.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.505849 ms (missed cycles : 4). + 4.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.505849 ms (missed cycles : 4).[0m ×2 + 4.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787704645.92123270 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.31sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.31sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.32sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.32sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.32sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.33sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787704645.97136688 seconds ×3 + 4.94sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787704646.58259773 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.96sINFOobjective_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 + 4.96sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.96sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.96sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.96sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.96sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.96sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.96sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.96sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.06sINFOobjective_server_nodeFound path in 0 iterations (2.4174e-05 s). ×2 + 5.06sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.08sINFOros2_control_node[2026-08-26 00:37:26.719] [info] Received new action goal ×2 + 5.08sINFOros2_control_node[2026-08-26 00:37:26.719] [info] Accepted new action goal ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.198650 ms (missed cycles : 5). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.198650 ms (missed cycles : 5).[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.944090 ms (missed cycles : 3). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.944090 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | move_to_pose_jtc.xml | 0.0s | 22 warnings · 231 info |
+ 0.00sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.00sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.00sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.00sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.01sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.03sINFOros2_control_node[2026-08-26 00:37:21.669] [info] Controller state will be published at 20 Hz. ×2 + 0.03sINFOros2_control_node[2026-08-26 00:37:21.670] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.38sINFOros2-8process has finished cleanly [pid 8837] ×2 + 0.40sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787704642.03547120 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.40sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.40sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.637015 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.637015 ms (missed cycles : 2).[0m ×2 + 1.46sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787704643.09561563 seconds ×3 + 1.49sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.50sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.50sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.50sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.50sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.50sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.50sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.50sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.50sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.50sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.51sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.51sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.74sWARNros2_control_nodeCamera render tick took 1.94 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 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.705710 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.705710 ms (missed cycles : 2).[0m ×2 + 2.09sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787704643.73021770 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.15sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787704643.79042387 seconds ×3 + 2.81sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787704644.44447231 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787704644.46460342 seconds ×3 + 3.02sWARNros2_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 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.154964 ms (missed cycles : 4). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.154964 ms (missed cycles : 4).[0m ×2 + 3.42sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787704645.06335068 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787704645.21389341 seconds ×3 + 4.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.505849 ms (missed cycles : 4). + 4.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.505849 ms (missed cycles : 4).[0m ×2 + 4.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787704645.92123270 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.31sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.31sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.32sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.32sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.32sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.33sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787704645.97136688 seconds ×3 + 4.94sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787704646.58259773 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.96sINFOobjective_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 + 4.96sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.96sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.96sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.96sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.96sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.96sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.96sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.96sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.06sINFOobjective_server_nodeFound path in 0 iterations (2.4174e-05 s). ×2 + 5.06sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.08sINFOros2_control_node[2026-08-26 00:37:26.719] [info] Received new action goal ×2 + 5.08sINFOros2_control_node[2026-08-26 00:37:26.719] [info] Accepted new action goal ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.198650 ms (missed cycles : 5). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.198650 ms (missed cycles : 5).[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.944090 ms (missed cycles : 3). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.944090 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | move_to_waypoint_jtc.xml | 0.0s | 22 warnings · 231 info |
+ 0.00sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.00sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.00sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.00sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.01sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.03sINFOros2_control_node[2026-08-26 00:37:21.669] [info] Controller state will be published at 20 Hz. ×2 + 0.03sINFOros2_control_node[2026-08-26 00:37:21.670] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.38sINFOros2-8process has finished cleanly [pid 8837] ×2 + 0.40sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787704642.03547120 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.40sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.40sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.637015 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.637015 ms (missed cycles : 2).[0m ×2 + 1.46sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787704643.09561563 seconds ×3 + 1.49sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.50sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.50sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.50sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.50sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.50sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.50sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.50sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.50sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.50sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.51sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.51sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.74sWARNros2_control_nodeCamera render tick took 1.94 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 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.705710 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.705710 ms (missed cycles : 2).[0m ×2 + 2.09sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787704643.73021770 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.15sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787704643.79042387 seconds ×3 + 2.81sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787704644.44447231 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787704644.46460342 seconds ×3 + 3.02sWARNros2_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 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.154964 ms (missed cycles : 4). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.154964 ms (missed cycles : 4).[0m ×2 + 3.42sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787704645.06335068 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787704645.21389341 seconds ×3 + 4.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.505849 ms (missed cycles : 4). + 4.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.505849 ms (missed cycles : 4).[0m ×2 + 4.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787704645.92123270 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.31sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.31sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.32sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.32sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.32sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.33sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787704645.97136688 seconds ×3 + 4.94sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787704646.58259773 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.96sINFOobjective_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 + 4.96sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.96sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.96sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.96sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.96sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.96sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.96sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.96sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.06sINFOobjective_server_nodeFound path in 0 iterations (2.4174e-05 s). ×2 + 5.06sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.08sINFOros2_control_node[2026-08-26 00:37:26.719] [info] Received new action goal ×2 + 5.08sINFOros2_control_node[2026-08-26 00:37:26.719] [info] Accepted new action goal ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.198650 ms (missed cycles : 5). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.198650 ms (missed cycles : 5).[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.944090 ms (missed cycles : 3). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.944090 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | record_teleop_trajectory.xml | 0.0s | 22 warnings · 231 info |
+ 0.00sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.00sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.00sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.00sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.01sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.03sINFOros2_control_node[2026-08-26 00:37:21.669] [info] Controller state will be published at 20 Hz. ×2 + 0.03sINFOros2_control_node[2026-08-26 00:37:21.670] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.38sINFOros2-8process has finished cleanly [pid 8837] ×2 + 0.40sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787704642.03547120 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.40sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.40sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.637015 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.637015 ms (missed cycles : 2).[0m ×2 + 1.46sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787704643.09561563 seconds ×3 + 1.49sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.50sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.50sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.50sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.50sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.50sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.50sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.50sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.50sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.50sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.51sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.51sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.74sWARNros2_control_nodeCamera render tick took 1.94 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 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.705710 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.705710 ms (missed cycles : 2).[0m ×2 + 2.09sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787704643.73021770 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.15sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787704643.79042387 seconds ×3 + 2.81sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787704644.44447231 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787704644.46460342 seconds ×3 + 3.02sWARNros2_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 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.154964 ms (missed cycles : 4). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.154964 ms (missed cycles : 4).[0m ×2 + 3.42sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787704645.06335068 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787704645.21389341 seconds ×3 + 4.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.505849 ms (missed cycles : 4). + 4.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.505849 ms (missed cycles : 4).[0m ×2 + 4.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787704645.92123270 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.31sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.31sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.32sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.32sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.32sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.33sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787704645.97136688 seconds ×3 + 4.94sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787704646.58259773 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.96sINFOobjective_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 + 4.96sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.96sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.96sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.96sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.96sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.96sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.96sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.96sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.06sINFOobjective_server_nodeFound path in 0 iterations (2.4174e-05 s). ×2 + 5.06sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.08sINFOros2_control_node[2026-08-26 00:37:26.719] [info] Received new action goal ×2 + 5.08sINFOros2_control_node[2026-08-26 00:37:26.719] [info] Accepted new action goal ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.198650 ms (missed cycles : 5). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.198650 ms (missed cycles : 5).[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.944090 ms (missed cycles : 3). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.944090 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | track_moving_frame.xml | 0.0s | 22 warnings · 231 info |
+ 0.00sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.00sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.00sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.00sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.01sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.03sINFOros2_control_node[2026-08-26 00:37:21.669] [info] Controller state will be published at 20 Hz. ×2 + 0.03sINFOros2_control_node[2026-08-26 00:37:21.670] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.38sINFOros2-8process has finished cleanly [pid 8837] ×2 + 0.40sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787704642.03547120 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.40sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.40sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.637015 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.637015 ms (missed cycles : 2).[0m ×2 + 1.46sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787704643.09561563 seconds ×3 + 1.49sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.50sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.50sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.50sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.50sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.50sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.50sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.50sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.50sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.50sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.51sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.51sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.74sWARNros2_control_nodeCamera render tick took 1.94 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 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.705710 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.705710 ms (missed cycles : 2).[0m ×2 + 2.09sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787704643.73021770 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.15sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787704643.79042387 seconds ×3 + 2.81sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787704644.44447231 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787704644.46460342 seconds ×3 + 3.02sWARNros2_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 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.154964 ms (missed cycles : 4). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.154964 ms (missed cycles : 4).[0m ×2 + 3.42sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787704645.06335068 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787704645.21389341 seconds ×3 + 4.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.505849 ms (missed cycles : 4). + 4.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.505849 ms (missed cycles : 4).[0m ×2 + 4.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787704645.92123270 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.31sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.31sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.32sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.32sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.32sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.33sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787704645.97136688 seconds ×3 + 4.94sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787704646.58259773 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.96sINFOobjective_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 + 4.96sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.96sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.96sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.96sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.96sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.96sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.96sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.96sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.06sINFOobjective_server_nodeFound path in 0 iterations (2.4174e-05 s). ×2 + 5.06sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.08sINFOros2_control_node[2026-08-26 00:37:26.719] [info] Received new action goal ×2 + 5.08sINFOros2_control_node[2026-08-26 00:37:26.719] [info] Accepted new action goal ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.198650 ms (missed cycles : 5). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.198650 ms (missed cycles : 5).[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.944090 ms (missed cycles : 3). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.944090 ms (missed cycles : 3).[0m ×2 | ||||
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/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/mujoco1 pass
| ✓ passed | — | reset_mujoco_sim.xml | 0.6s | 25 warnings · 243 info |
+ 0.00sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.00sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.00sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.00sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.01sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.03sINFOros2_control_node[2026-08-26 00:37:21.669] [info] Controller state will be published at 20 Hz. ×2 + 0.03sINFOros2_control_node[2026-08-26 00:37:21.670] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.38sINFOros2-8process has finished cleanly [pid 8837] ×2 + 0.40sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787704642.03547120 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.40sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.40sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.637015 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.637015 ms (missed cycles : 2).[0m ×2 + 1.46sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787704643.09561563 seconds ×3 + 1.49sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.50sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.50sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.50sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.50sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.50sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.50sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.50sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.50sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.50sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.51sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.51sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.74sWARNros2_control_nodeCamera render tick took 1.94 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 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.705710 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.705710 ms (missed cycles : 2).[0m ×2 + 2.09sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787704643.73021770 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.15sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787704643.79042387 seconds ×3 + 2.81sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787704644.44447231 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787704644.46460342 seconds ×3 + 3.02sWARNros2_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 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.154964 ms (missed cycles : 4). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.154964 ms (missed cycles : 4).[0m ×2 + 3.42sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787704645.06335068 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787704645.21389341 seconds ×3 + 4.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.505849 ms (missed cycles : 4). + 4.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.505849 ms (missed cycles : 4).[0m ×2 + 4.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787704645.92123270 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.31sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.31sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.32sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.32sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.32sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.33sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787704645.97136688 seconds ×3 + 4.94sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787704646.58259773 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.96sINFOobjective_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 + 4.96sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.96sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.96sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.96sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.96sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.96sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.96sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.96sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.06sINFOobjective_server_nodeFound path in 0 iterations (2.4174e-05 s). ×2 + 5.06sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.08sINFOros2_control_node[2026-08-26 00:37:26.719] [info] Received new action goal ×2 + 5.08sINFOros2_control_node[2026-08-26 00:37:26.719] [info] Accepted new action goal ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.198650 ms (missed cycles : 5). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.198650 ms (missed cycles : 5).[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.944090 ms (missed cycles : 3). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.944090 ms (missed cycles : 3).[0m ×2 + 7.30sINFOros2_control_nodeMuJoCo sim: 0.21% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 7.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.091538 ms (missed cycles : 2). + 7.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.091538 ms (missed cycles : 2).[0m ×2 + 7.49sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 7.58sINFOobjective_server_nodeFound path in 0 iterations (3.97e-07 s). ×2 + 7.59sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 | ||||
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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 · 231 info |
+ 0.00sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.00sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.00sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.00sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.01sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.03sINFOros2_control_node[2026-08-26 00:37:21.669] [info] Controller state will be published at 20 Hz. ×2 + 0.03sINFOros2_control_node[2026-08-26 00:37:21.670] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.38sINFOros2-8process has finished cleanly [pid 8837] ×2 + 0.40sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787704642.03547120 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.40sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.40sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.637015 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.637015 ms (missed cycles : 2).[0m ×2 + 1.46sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787704643.09561563 seconds ×3 + 1.49sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.50sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.50sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.50sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.50sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.50sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.50sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.50sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.50sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.50sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.51sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.51sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.74sWARNros2_control_nodeCamera render tick took 1.94 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 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.705710 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.705710 ms (missed cycles : 2).[0m ×2 + 2.09sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787704643.73021770 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.15sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787704643.79042387 seconds ×3 + 2.81sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787704644.44447231 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787704644.46460342 seconds ×3 + 3.02sWARNros2_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 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.154964 ms (missed cycles : 4). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.154964 ms (missed cycles : 4).[0m ×2 + 3.42sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787704645.06335068 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787704645.21389341 seconds ×3 + 4.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.505849 ms (missed cycles : 4). + 4.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.505849 ms (missed cycles : 4).[0m ×2 + 4.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787704645.92123270 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.31sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.31sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.32sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.32sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.32sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.33sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787704645.97136688 seconds ×3 + 4.94sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787704646.58259773 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.96sINFOobjective_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 + 4.96sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.96sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.96sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.96sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.96sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.96sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.96sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.96sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.06sINFOobjective_server_nodeFound path in 0 iterations (2.4174e-05 s). ×2 + 5.06sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.08sINFOros2_control_node[2026-08-26 00:37:26.719] [info] Received new action goal ×2 + 5.08sINFOros2_control_node[2026-08-26 00:37:26.719] [info] Accepted new action goal ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.198650 ms (missed cycles : 5). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.198650 ms (missed cycles : 5).[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.944090 ms (missed cycles : 3). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.944090 ms (missed cycles : 3).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/visualization3 skip
| − skipped | — | visualize_tf.xml | 0.0s | 22 warnings · 231 info |
+ 0.00sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.00sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.00sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.00sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.01sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.03sINFOros2_control_node[2026-08-26 00:37:21.669] [info] Controller state will be published at 20 Hz. ×2 + 0.03sINFOros2_control_node[2026-08-26 00:37:21.670] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.38sINFOros2-8process has finished cleanly [pid 8837] ×2 + 0.40sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787704642.03547120 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.40sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.40sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.637015 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.637015 ms (missed cycles : 2).[0m ×2 + 1.46sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787704643.09561563 seconds ×3 + 1.49sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.50sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.50sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.50sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.50sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.50sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.50sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.50sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.50sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.50sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.51sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.51sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.74sWARNros2_control_nodeCamera render tick took 1.94 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 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.705710 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.705710 ms (missed cycles : 2).[0m ×2 + 2.09sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787704643.73021770 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.15sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787704643.79042387 seconds ×3 + 2.81sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787704644.44447231 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787704644.46460342 seconds ×3 + 3.02sWARNros2_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 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.154964 ms (missed cycles : 4). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.154964 ms (missed cycles : 4).[0m ×2 + 3.42sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787704645.06335068 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787704645.21389341 seconds ×3 + 4.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.505849 ms (missed cycles : 4). + 4.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.505849 ms (missed cycles : 4).[0m ×2 + 4.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787704645.92123270 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.31sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.31sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.32sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.32sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.32sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.33sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787704645.97136688 seconds ×3 + 4.94sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787704646.58259773 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.96sINFOobjective_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 + 4.96sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.96sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.96sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.96sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.96sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.96sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.96sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.96sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.06sINFOobjective_server_nodeFound path in 0 iterations (2.4174e-05 s). ×2 + 5.06sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.08sINFOros2_control_node[2026-08-26 00:37:26.719] [info] Received new action goal ×2 + 5.08sINFOros2_control_node[2026-08-26 00:37:26.719] [info] Accepted new action goal ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.198650 ms (missed cycles : 5). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.198650 ms (missed cycles : 5).[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.944090 ms (missed cycles : 3). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.944090 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | interactive_marker_visualization.xml | 0.0s | 22 warnings · 231 info |
+ 0.00sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.00sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.00sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.00sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.01sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.03sINFOros2_control_node[2026-08-26 00:37:21.669] [info] Controller state will be published at 20 Hz. ×2 + 0.03sINFOros2_control_node[2026-08-26 00:37:21.670] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.38sINFOros2-8process has finished cleanly [pid 8837] ×2 + 0.40sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787704642.03547120 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.40sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.40sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.637015 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.637015 ms (missed cycles : 2).[0m ×2 + 1.46sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787704643.09561563 seconds ×3 + 1.49sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.50sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.50sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.50sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.50sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.50sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.50sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.50sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.50sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.50sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.51sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.51sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.74sWARNros2_control_nodeCamera render tick took 1.94 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 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.705710 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.705710 ms (missed cycles : 2).[0m ×2 + 2.09sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787704643.73021770 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.15sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787704643.79042387 seconds ×3 + 2.81sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787704644.44447231 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787704644.46460342 seconds ×3 + 3.02sWARNros2_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 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.154964 ms (missed cycles : 4). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.154964 ms (missed cycles : 4).[0m ×2 + 3.42sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787704645.06335068 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787704645.21389341 seconds ×3 + 4.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.505849 ms (missed cycles : 4). + 4.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.505849 ms (missed cycles : 4).[0m ×2 + 4.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787704645.92123270 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.31sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.31sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.32sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.32sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.32sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.33sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787704645.97136688 seconds ×3 + 4.94sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787704646.58259773 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.96sINFOobjective_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 + 4.96sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.96sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.96sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.96sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.96sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.96sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.96sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.96sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.06sINFOobjective_server_nodeFound path in 0 iterations (2.4174e-05 s). ×2 + 5.06sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.08sINFOros2_control_node[2026-08-26 00:37:26.719] [info] Received new action goal ×2 + 5.08sINFOros2_control_node[2026-08-26 00:37:26.719] [info] Accepted new action goal ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.198650 ms (missed cycles : 5). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.198650 ms (missed cycles : 5).[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.944090 ms (missed cycles : 3). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.944090 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | interactive_marker_visualization_example.xml | 0.0s | 22 warnings · 231 info |
+ 0.00sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.00sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.00sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.00sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.01sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.03sINFOros2_control_node[2026-08-26 00:37:21.669] [info] Controller state will be published at 20 Hz. ×2 + 0.03sINFOros2_control_node[2026-08-26 00:37:21.670] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.38sINFOros2-8process has finished cleanly [pid 8837] ×2 + 0.40sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787704642.03547120 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.40sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.40sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.637015 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.637015 ms (missed cycles : 2).[0m ×2 + 1.46sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787704643.09561563 seconds ×3 + 1.49sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.50sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.50sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.50sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.50sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.50sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.50sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.50sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.50sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.50sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.51sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.51sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.74sWARNros2_control_nodeCamera render tick took 1.94 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 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.705710 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.705710 ms (missed cycles : 2).[0m ×2 + 2.09sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787704643.73021770 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.15sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787704643.79042387 seconds ×3 + 2.81sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787704644.44447231 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787704644.46460342 seconds ×3 + 3.02sWARNros2_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 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.154964 ms (missed cycles : 4). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.154964 ms (missed cycles : 4).[0m ×2 + 3.42sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787704645.06335068 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787704645.21389341 seconds ×3 + 4.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.505849 ms (missed cycles : 4). + 4.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.505849 ms (missed cycles : 4).[0m ×2 + 4.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787704645.92123270 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.31sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.31sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.32sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.32sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.32sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.33sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787704645.97136688 seconds ×3 + 4.94sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787704646.58259773 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.96sINFOobjective_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 + 4.96sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.96sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.96sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.96sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.96sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.96sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.96sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.96sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.06sINFOobjective_server_nodeFound path in 0 iterations (2.4174e-05 s). ×2 + 5.06sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.08sINFOros2_control_node[2026-08-26 00:37:26.719] [info] Received new action goal ×2 + 5.08sINFOros2_control_node[2026-08-26 00:37:26.719] [info] Accepted new action goal ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.198650 ms (missed cycles : 5). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.198650 ms (missed cycles : 5).[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.944090 ms (missed cycles : 3). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.944090 ms (missed cycles : 3).[0m ×2 | ||||